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articulationRootAPI.h
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1 //
2 // Copyright 2016 Pixar
3 //
4 // Licensed under the Apache License, Version 2.0 (the "Apache License")
5 // with the following modification; you may not use this file except in
6 // compliance with the Apache License and the following modification to it:
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24 #ifndef USDPHYSICS_GENERATED_ARTICULATIONROOTAPI_H
25 #define USDPHYSICS_GENERATED_ARTICULATIONROOTAPI_H
26 
27 /// \file usdPhysics/articulationRootAPI.h
28 
29 #include "pxr/pxr.h"
30 #include "pxr/usd/usdPhysics/api.h"
32 #include "pxr/usd/usd/prim.h"
33 #include "pxr/usd/usd/stage.h"
34 
35 #include "pxr/base/vt/value.h"
36 
37 #include "pxr/base/gf/vec3d.h"
38 #include "pxr/base/gf/vec3f.h"
39 #include "pxr/base/gf/matrix4d.h"
40 
41 #include "pxr/base/tf/token.h"
42 #include "pxr/base/tf/type.h"
43 
45 
46 class SdfAssetPath;
47 
48 // -------------------------------------------------------------------------- //
49 // PHYSICSARTICULATIONROOTAPI //
50 // -------------------------------------------------------------------------- //
51 
52 /// \class UsdPhysicsArticulationRootAPI
53 ///
54 /// PhysicsArticulationRootAPI can be applied to a scene graph node,
55 /// and marks the subtree rooted here for inclusion in one or more reduced
56 /// coordinate articulations. For floating articulations, this should be on
57 /// the root body. For fixed articulations (robotics jargon for e.g. a robot
58 /// arm for welding that is bolted to the floor), this API can be on a direct
59 /// or indirect parent of the root joint which is connected to the world, or
60 /// on the joint itself..
61 ///
63 {
64 public:
65  /// Compile time constant representing what kind of schema this class is.
66  ///
67  /// \sa UsdSchemaKind
69 
70  /// Construct a UsdPhysicsArticulationRootAPI on UsdPrim \p prim .
71  /// Equivalent to UsdPhysicsArticulationRootAPI::Get(prim.GetStage(), prim.GetPath())
72  /// for a \em valid \p prim, but will not immediately throw an error for
73  /// an invalid \p prim
75  : UsdAPISchemaBase(prim)
76  {
77  }
78 
79  /// Construct a UsdPhysicsArticulationRootAPI on the prim held by \p schemaObj .
80  /// Should be preferred over UsdPhysicsArticulationRootAPI(schemaObj.GetPrim()),
81  /// as it preserves SchemaBase state.
82  explicit UsdPhysicsArticulationRootAPI(const UsdSchemaBase& schemaObj)
83  : UsdAPISchemaBase(schemaObj)
84  {
85  }
86 
87  /// Destructor.
90 
91  /// Return a vector of names of all pre-declared attributes for this schema
92  /// class and all its ancestor classes. Does not include attributes that
93  /// may be authored by custom/extended methods of the schemas involved.
95  static const TfTokenVector &
96  GetSchemaAttributeNames(bool includeInherited=true);
97 
98  /// Return a UsdPhysicsArticulationRootAPI holding the prim adhering to this
99  /// schema at \p path on \p stage. If no prim exists at \p path on
100  /// \p stage, or if the prim at that path does not adhere to this schema,
101  /// return an invalid schema object. This is shorthand for the following:
102  ///
103  /// \code
104  /// UsdPhysicsArticulationRootAPI(stage->GetPrimAtPath(path));
105  /// \endcode
106  ///
109  Get(const UsdStagePtr &stage, const SdfPath &path);
110 
111 
112  /// Returns true if this <b>single-apply</b> API schema can be applied to
113  /// the given \p prim. If this schema can not be a applied to the prim,
114  /// this returns false and, if provided, populates \p whyNot with the
115  /// reason it can not be applied.
116  ///
117  /// Note that if CanApply returns false, that does not necessarily imply
118  /// that calling Apply will fail. Callers are expected to call CanApply
119  /// before calling Apply if they want to ensure that it is valid to
120  /// apply a schema.
121  ///
122  /// \sa UsdPrim::GetAppliedSchemas()
123  /// \sa UsdPrim::HasAPI()
124  /// \sa UsdPrim::CanApplyAPI()
125  /// \sa UsdPrim::ApplyAPI()
126  /// \sa UsdPrim::RemoveAPI()
127  ///
129  static bool
130  CanApply(const UsdPrim &prim, std::string *whyNot=nullptr);
131 
132  /// Applies this <b>single-apply</b> API schema to the given \p prim.
133  /// This information is stored by adding "PhysicsArticulationRootAPI" to the
134  /// token-valued, listOp metadata \em apiSchemas on the prim.
135  ///
136  /// \return A valid UsdPhysicsArticulationRootAPI object is returned upon success.
137  /// An invalid (or empty) UsdPhysicsArticulationRootAPI object is returned upon
138  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
139  /// resulting in failure.
140  ///
141  /// \sa UsdPrim::GetAppliedSchemas()
142  /// \sa UsdPrim::HasAPI()
143  /// \sa UsdPrim::CanApplyAPI()
144  /// \sa UsdPrim::ApplyAPI()
145  /// \sa UsdPrim::RemoveAPI()
146  ///
149  Apply(const UsdPrim &prim);
150 
151 protected:
152  /// Returns the kind of schema this class belongs to.
153  ///
154  /// \sa UsdSchemaKind
156  UsdSchemaKind _GetSchemaKind() const override;
157 
158 private:
159  // needs to invoke _GetStaticTfType.
160  friend class UsdSchemaRegistry;
162  static const TfType &_GetStaticTfType();
163 
164  static bool _IsTypedSchema();
165 
166  // override SchemaBase virtuals.
168  const TfType &_GetTfType() const override;
169 
170 public:
171  // ===================================================================== //
172  // Feel free to add custom code below this line, it will be preserved by
173  // the code generator.
174  //
175  // Just remember to:
176  // - Close the class declaration with };
177  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
178  // - Close the include guard with #endif
179  // ===================================================================== //
180  // --(BEGIN CUSTOM CODE)--
181 };
182 
184 
185 #endif
USDPHYSICS_API UsdSchemaKind _GetSchemaKind() const override
GLsizei const GLchar *const * path
Definition: glcorearb.h:3341
static USDPHYSICS_API UsdPhysicsArticulationRootAPI Get(const UsdStagePtr &stage, const SdfPath &path)
UsdPhysicsArticulationRootAPI(const UsdPrim &prim=UsdPrim())
UsdSchemaKind
Definition: common.h:127
Single Apply API schema.
static USDPHYSICS_API UsdPhysicsArticulationRootAPI Apply(const UsdPrim &prim)
virtual USDPHYSICS_API ~UsdPhysicsArticulationRootAPI()
Destructor.
static const UsdSchemaKind schemaKind
GLsizei const GLchar *const * string
Definition: glcorearb.h:814
Definition: prim.h:132
std::vector< TfToken > TfTokenVector
Convenience types.
Definition: token.h:442
Definition: path.h:290
#define USDPHYSICS_API
Definition: api.h:40
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1394
static USDPHYSICS_API bool CanApply(const UsdPrim &prim, std::string *whyNot=nullptr)
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
Definition: type.h:64
UsdPhysicsArticulationRootAPI(const UsdSchemaBase &schemaObj)
static USDPHYSICS_API const TfTokenVector & GetSchemaAttributeNames(bool includeInherited=true)