check the default up axis

cadop · Jan 17, 2023 · 199e481 · 199e481
1 parent 476beed
commit 199e481
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/exts/siborg.simulate.crowd/siborg/simulate/crowd/env.py b/exts/siborg.simulate.crowd/siborg/simulate/crowd/env.py
@@ -21,7 +21,14 @@ def set_scene(self, stage):
         UsdGeom.SetStageMetersPerUnit(stage, 1.0)
 
         self.scene = UsdPhysics.Scene.Define(stage, self.defaultPrimPath + "/physicsScene")
-        self.scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
+        stage_axis = UsdGeom.GetStageUpAxis(stage)
+        gravity_dir = Gf.Vec3f(0.0, 0.0, 0)
+
+        if stage_axis is 'X': gravity_dir[0] = -1.0
+        if stage_axis is 'Y': gravity_dir[1] = -1.0
+        if stage_axis is 'Z': gravity_dir[2] = -1.0
+
+        self.scene.CreateGravityDirectionAttr().Set(gravity_dir)
         self.scene.CreateGravityMagnitudeAttr().Set(9.81)
 
         physxSceneAPI = PhysxSchema.PhysxSceneAPI.Apply(self.scene.GetPrim())