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UsdPhysicsJoint Class Reference

#include <joint.h>

+ Inheritance diagram for UsdPhysicsJoint:

Public Member Functions

 UsdPhysicsJoint (const UsdPrim &prim=UsdPrim())
 
 UsdPhysicsJoint (const UsdSchemaBase &schemaObj)
 
virtual USDPHYSICS_API ~UsdPhysicsJoint ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetLocalPos0Attr () const
 
USDPHYSICS_API UsdAttribute CreateLocalPos0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetLocalRot0Attr () const
 
USDPHYSICS_API UsdAttribute CreateLocalRot0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetLocalPos1Attr () const
 
USDPHYSICS_API UsdAttribute CreateLocalPos1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetLocalRot1Attr () const
 
USDPHYSICS_API UsdAttribute CreateLocalRot1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetJointEnabledAttr () const
 
USDPHYSICS_API UsdAttribute CreateJointEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetCollisionEnabledAttr () const
 
USDPHYSICS_API UsdAttribute CreateCollisionEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetExcludeFromArticulationAttr () const
 
USDPHYSICS_API UsdAttribute CreateExcludeFromArticulationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetBreakForceAttr () const
 
USDPHYSICS_API UsdAttribute CreateBreakForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetBreakTorqueAttr () const
 
USDPHYSICS_API UsdAttribute CreateBreakTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdRelationship GetBody0Rel () const
 
USDPHYSICS_API UsdRelationship CreateBody0Rel () const
 
USDPHYSICS_API UsdRelationship GetBody1Rel () const
 
USDPHYSICS_API UsdRelationship CreateBody1Rel () const
 
- Public Member Functions inherited from UsdGeomImageable
 UsdGeomImageable (const UsdPrim &prim=UsdPrim())
 
 UsdGeomImageable (const UsdSchemaBase &schemaObj)
 
virtual USDGEOM_API ~UsdGeomImageable ()
 Destructor. More...
 
USDGEOM_API UsdAttribute GetVisibilityAttr () const
 
USDGEOM_API UsdAttribute CreateVisibilityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDGEOM_API UsdAttribute GetPurposeAttr () const
 
USDGEOM_API UsdAttribute CreatePurposeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDGEOM_API UsdRelationship GetProxyPrimRel () const
 
USDGEOM_API UsdRelationship CreateProxyPrimRel () const
 
USDGEOM_API void MakeVisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
 
USDGEOM_API void MakeInvisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
 
USDGEOM_API TfToken ComputeVisibility (UsdTimeCode const &time=UsdTimeCode::Default()) const
 
USDGEOM_API UsdAttribute GetPurposeVisibilityAttr (const TfToken &purpose=UsdGeomTokens->default_) const
 
USDGEOM_API TfToken ComputeEffectiveVisibility (const TfToken &purpose=UsdGeomTokens->default_, const UsdTimeCode &time=UsdTimeCode::Default()) const
 
USDGEOM_API PurposeInfo ComputePurposeInfo () const
 
USDGEOM_API PurposeInfo ComputePurposeInfo (const PurposeInfo &parentPurposeInfo) const
 
USDGEOM_API TfToken ComputePurpose () const
 
USDGEOM_API UsdPrim ComputeProxyPrim (UsdPrim *renderPrim=NULL) const
 
USDGEOM_API bool SetProxyPrim (const UsdPrim &proxy) const
 
USDGEOM_API bool SetProxyPrim (const UsdSchemaBase &proxy) const
 
USDGEOM_API GfBBox3d ComputeWorldBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
 
USDGEOM_API GfBBox3d ComputeLocalBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
 
USDGEOM_API GfBBox3d ComputeUntransformedBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
 
USDGEOM_API GfMatrix4d ComputeLocalToWorldTransform (UsdTimeCode const &time) const
 
USDGEOM_API GfMatrix4d ComputeParentToWorldTransform (UsdTimeCode const &time) const
 
- Public Member Functions inherited from UsdTyped
 UsdTyped (const UsdPrim &prim=UsdPrim())
 
 UsdTyped (const UsdSchemaBase &schemaObj)
 
virtual USD_API ~UsdTyped ()
 Destructor. More...
 
- Public Member Functions inherited from UsdSchemaBase
bool IsConcrete () const
 
bool IsTyped () const
 
bool IsAPISchema () const
 Returns whether this is an API schema or not. More...
 
bool IsAppliedAPISchema () const
 
bool IsMultipleApplyAPISchema () const
 
UsdSchemaKind GetSchemaKind () const
 Returns the kind of schema this class is. More...
 
USD_API UsdSchemaBase (const UsdPrim &prim=UsdPrim())
 Construct and store prim as the held prim. More...
 
USD_API UsdSchemaBase (const UsdSchemaBase &otherSchema)
 Construct and store for the same prim held by otherSchema. More...
 
virtual USD_API ~UsdSchemaBase ()
 Destructor. More...
 
USD_API operator bool () const
 
UsdPrim GetPrim () const
 Return this schema object's held prim. More...
 
SdfPath GetPath () const
 Shorthand for GetPrim()->GetPath(). More...
 
USD_API const UsdPrimDefinitionGetSchemaClassPrimDefinition () const
 

Static Public Member Functions

static USDPHYSICS_API const
TfTokenVector
GetSchemaAttributeNames (bool includeInherited=true)
 
static USDPHYSICS_API
UsdPhysicsJoint 
Get (const UsdStagePtr &stage, const SdfPath &path)
 
static USDPHYSICS_API
UsdPhysicsJoint 
Define (const UsdStagePtr &stage, const SdfPath &path)
 
- Static Public Member Functions inherited from UsdGeomImageable
static USDGEOM_API const
TfTokenVector
GetSchemaAttributeNames (bool includeInherited=true)
 
static USDGEOM_API UsdGeomImageable Get (const UsdStagePtr &stage, const SdfPath &path)
 
static USDGEOM_API const
TfTokenVector
GetOrderedPurposeTokens ()
 
- Static Public Member Functions inherited from UsdTyped
static USD_API const
TfTokenVector
GetSchemaAttributeNames (bool includeInherited=true)
 
static USD_API UsdTyped Get (const UsdStagePtr &stage, const SdfPath &path)
 
- Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 

Static Public Attributes

static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped
 
- Static Public Attributes inherited from UsdGeomImageable
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractTyped
 
- Static Public Attributes inherited from UsdTyped
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractBase
 
- Static Public Attributes inherited from UsdSchemaBase
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractBase
 

Protected Member Functions

USDPHYSICS_API UsdSchemaKind _GetSchemaKind () const override
 
- Protected Member Functions inherited from UsdTyped
USD_API bool _IsCompatible () const override
 
- Protected Member Functions inherited from UsdSchemaBase
virtual UsdSchemaKind _GetSchemaType () const
 
const TfType_GetType () const
 
USD_API UsdAttribute _CreateAttr (TfToken const &attrName, SdfValueTypeName const &typeName, bool custom, SdfVariability variability, VtValue const &defaultValue, bool writeSparsely) const
 

Friends

class UsdSchemaRegistry
 

Detailed Description

A joint constrains the movement of rigid bodies. Joint can be created between two rigid bodies or between one rigid body and world. By default joint primitive defines a D6 joint where all degrees of freedom are free. Three linear and three angular degrees of freedom. Note that default behavior is to disable collision between jointed bodies.

Definition at line 62 of file joint.h.

Constructor & Destructor Documentation

UsdPhysicsJoint::UsdPhysicsJoint ( const UsdPrim prim = UsdPrim())
inlineexplicit

Construct a UsdPhysicsJoint on UsdPrim prim . Equivalent to UsdPhysicsJoint::Get(prim.GetStage(), prim.GetPath()) for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 74 of file joint.h.

UsdPhysicsJoint::UsdPhysicsJoint ( const UsdSchemaBase schemaObj)
inlineexplicit

Construct a UsdPhysicsJoint on the prim held by schemaObj . Should be preferred over UsdPhysicsJoint(schemaObj.GetPrim()), as it preserves SchemaBase state.

Definition at line 82 of file joint.h.

virtual USDPHYSICS_API UsdPhysicsJoint::~UsdPhysicsJoint ( )
virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsJoint::_GetSchemaKind ( ) const
overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also
UsdSchemaKind

Reimplemented from UsdGeomImageable.

Reimplemented in UsdPhysicsSphericalJoint, UsdPhysicsPrismaticJoint, and UsdPhysicsRevoluteJoint.

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::CreateBody0Rel ( ) const

See GetBody0Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::CreateBody1Rel ( ) const

See GetBody1Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateBreakForceAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetBreakForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateBreakTorqueAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetBreakTorqueAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateCollisionEnabledAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetCollisionEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateExcludeFromArticulationAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetExcludeFromArticulationAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateJointEnabledAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetJointEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateLocalPos0Attr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetLocalPos0Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateLocalPos1Attr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetLocalPos1Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateLocalRot0Attr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetLocalRot0Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateLocalRot1Attr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetLocalRot1Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

static USDPHYSICS_API UsdPhysicsJoint UsdPhysicsJoint::Define ( const UsdStagePtr &  stage,
const SdfPath path 
)
static

Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.

If a prim adhering to this schema at path is already defined on this stage, return that prim. Otherwise author an SdfPrimSpec with specifier == SdfSpecifierDef and this schema's prim type name for the prim at path at the current EditTarget. Author SdfPrimSpec s with specifier == SdfSpecifierDef and empty typeName at the current EditTarget for any nonexistent, or existing but not Defined ancestors.

The given path must be an absolute prim path that does not contain any variant selections.

If it is impossible to author any of the necessary PrimSpecs, (for example, in case path cannot map to the current UsdEditTarget's namespace) issue an error and return an invalid UsdPrim.

Note that this method may return a defined prim whose typeName does not specify this schema class, in case a stronger typeName opinion overrides the opinion at the current EditTarget.

static USDPHYSICS_API UsdPhysicsJoint UsdPhysicsJoint::Get ( const UsdStagePtr &  stage,
const SdfPath path 
)
static

Return a UsdPhysicsJoint holding the prim adhering to this schema at path on stage. If no prim exists at path on stage, or if the prim at that path does not adhere to this schema, return an invalid schema object. This is shorthand for the following:

UsdPhysicsJoint(stage->GetPrimAtPath(path));
USDPHYSICS_API UsdRelationship UsdPhysicsJoint::GetBody0Rel ( ) const

Relationship to any UsdGeomXformable.

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::GetBody1Rel ( ) const

Relationship to any UsdGeomXformable.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetBreakForceAttr ( ) const

Joint break force. If set, joint is to break when this force limit is reached. (Used for linear DOFs.) Units: mass * distance / second / second

Declaration float physics:breakForce = inf
C++ Type float
Usd Type SdfValueTypeNames->Float
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetBreakTorqueAttr ( ) const

Joint break torque. If set, joint is to break when this torque limit is reached. (Used for angular DOFs.) Units: mass * distance * distance / second / second

Declaration float physics:breakTorque = inf
C++ Type float
Usd Type SdfValueTypeNames->Float
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetCollisionEnabledAttr ( ) const

Determines if the jointed subtrees should collide or not.

Declaration bool physics:collisionEnabled = 0
C++ Type bool
Usd Type SdfValueTypeNames->Bool
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetExcludeFromArticulationAttr ( ) const

Determines if the joint can be included in an Articulation.

Declaration uniform bool physics:excludeFromArticulation = 0
C++ Type bool
Usd Type SdfValueTypeNames->Bool
Variability SdfVariabilityUniform
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetJointEnabledAttr ( ) const

Determines if the joint is enabled.

Declaration bool physics:jointEnabled = 1
C++ Type bool
Usd Type SdfValueTypeNames->Bool
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalPos0Attr ( ) const

Relative position of the joint frame to body0's frame.

Declaration point3f physics:localPos0 = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Point3f
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalPos1Attr ( ) const

Relative position of the joint frame to body1's frame.

Declaration point3f physics:localPos1 = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Point3f
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalRot0Attr ( ) const

Relative orientation of the joint frame to body0's frame.

Declaration quatf physics:localRot0 = (1, 0, 0, 0)
C++ Type GfQuatf
Usd Type SdfValueTypeNames->Quatf
USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalRot1Attr ( ) const

Relative orientation of the joint frame to body1's frame.

Declaration quatf physics:localRot1 = (1, 0, 0, 0)
C++ Type GfQuatf
Usd Type SdfValueTypeNames->Quatf
static USDPHYSICS_API const TfTokenVector& UsdPhysicsJoint::GetSchemaAttributeNames ( bool  includeInherited = true)
static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. Does not include attributes that may be authored by custom/extended methods of the schemas involved.

Friends And Related Function Documentation

friend class UsdSchemaRegistry
friend

Definition at line 146 of file joint.h.

Member Data Documentation

const UsdSchemaKind UsdPhysicsJoint::schemaKind = UsdSchemaKind::ConcreteTyped
static

Compile time constant representing what kind of schema this class is.

See Also
UsdSchemaKind

Definition at line 68 of file joint.h.


The documentation for this class was generated from the following file: