HDK
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
UsdPhysicsMassAPI Class Reference

#include <massAPI.h>

+ Inheritance diagram for UsdPhysicsMassAPI:

Public Member Functions

 UsdPhysicsMassAPI (const UsdPrim &prim=UsdPrim())
 
 UsdPhysicsMassAPI (const UsdSchemaBase &schemaObj)
 
virtual USDPHYSICS_API ~UsdPhysicsMassAPI ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetMassAttr () const
 
USDPHYSICS_API UsdAttribute CreateMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetDensityAttr () const
 
USDPHYSICS_API UsdAttribute CreateDensityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetCenterOfMassAttr () const
 
USDPHYSICS_API UsdAttribute CreateCenterOfMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetDiagonalInertiaAttr () const
 
USDPHYSICS_API UsdAttribute CreateDiagonalInertiaAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetPrincipalAxesAttr () const
 
USDPHYSICS_API UsdAttribute CreatePrincipalAxesAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
- Public Member Functions inherited from UsdAPISchemaBase
 UsdAPISchemaBase (const UsdPrim &prim=UsdPrim())
 
 UsdAPISchemaBase (const UsdSchemaBase &schemaObj)
 
virtual USD_API ~UsdAPISchemaBase ()=0
 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
UsdPhysicsMassAPI 
Get (const UsdStagePtr &stage, const SdfPath &path)
 
static USDPHYSICS_API bool CanApply (const UsdPrim &prim, std::string *whyNot=nullptr)
 
static USDPHYSICS_API
UsdPhysicsMassAPI 
Apply (const UsdPrim &prim)
 
- Static Public Member Functions inherited from UsdAPISchemaBase
static USD_API const
TfTokenVector
GetSchemaAttributeNames (bool includeInherited=true)
 
- Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 

Static Public Attributes

static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI
 
- Static Public Attributes inherited from UsdAPISchemaBase
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 UsdAPISchemaBase
 UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName)
 
 UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName)
 
const TfToken_GetInstanceName () const
 
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
 

Additional Inherited Members

- Static Protected Member Functions inherited from UsdAPISchemaBase
static USD_API TfTokenVector _GetMultipleApplyInstanceNames (const UsdPrim &prim, const TfType &schemaType)
 

Detailed Description

Defines explicit mass properties (mass, density, inertia etc.). MassAPI can be applied to any object that has a PhysicsCollisionAPI or a PhysicsRigidBodyAPI.

Definition at line 59 of file massAPI.h.

Constructor & Destructor Documentation

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

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

Definition at line 71 of file massAPI.h.

UsdPhysicsMassAPI::UsdPhysicsMassAPI ( const UsdSchemaBase schemaObj)
inlineexplicit

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

Definition at line 79 of file massAPI.h.

virtual USDPHYSICS_API UsdPhysicsMassAPI::~UsdPhysicsMassAPI ( )
virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsMassAPI::_GetSchemaKind ( ) const
overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also
UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

static USDPHYSICS_API UsdPhysicsMassAPI UsdPhysicsMassAPI::Apply ( const UsdPrim prim)
static

Applies this single-apply API schema to the given prim. This information is stored by adding "PhysicsMassAPI" to the token-valued, listOp metadata apiSchemas on the prim.

Returns
A valid UsdPhysicsMassAPI object is returned upon success. An invalid (or empty) UsdPhysicsMassAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
See Also
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()
static USDPHYSICS_API bool UsdPhysicsMassAPI::CanApply ( const UsdPrim prim,
std::string whyNot = nullptr 
)
static

Returns true if this single-apply API schema can be applied to the given prim. If this schema can not be a applied to the prim, this returns false and, if provided, populates whyNot with the reason it can not be applied.

Note that if CanApply returns false, that does not necessarily imply that calling Apply will fail. Callers are expected to call CanApply before calling Apply if they want to ensure that it is valid to apply a schema.

See Also
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()
USDPHYSICS_API UsdAttribute UsdPhysicsMassAPI::CreateCenterOfMassAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetCenterOfMassAttr(), 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 UsdPhysicsMassAPI::CreateDensityAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetDensityAttr(), 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 UsdPhysicsMassAPI::CreateDiagonalInertiaAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetDiagonalInertiaAttr(), 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 UsdPhysicsMassAPI::CreateMassAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetMassAttr(), 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 UsdPhysicsMassAPI::CreatePrincipalAxesAttr ( VtValue const &  defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetPrincipalAxesAttr(), 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 UsdPhysicsMassAPI UsdPhysicsMassAPI::Get ( const UsdStagePtr &  stage,
const SdfPath path 
)
static

Return a UsdPhysicsMassAPI 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:

UsdPhysicsMassAPI(stage->GetPrimAtPath(path));
USDPHYSICS_API UsdAttribute UsdPhysicsMassAPI::GetCenterOfMassAttr ( ) const

Center of mass in the prim's local space. Units: distance.

Declaration point3f physics:centerOfMass = (-inf, -inf, -inf)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Point3f
USDPHYSICS_API UsdAttribute UsdPhysicsMassAPI::GetDensityAttr ( ) const

If non-zero, specifies the density of the object. In the context of rigid body physics, density indirectly results in setting mass via (mass = density x volume of the object). How the volume is computed is up to implementation of the physics system. It is generally computed from the collision approximation rather than the graphical mesh. In the case where both density and mass are specified for the same object, mass has precedence over density. Unlike mass, child's prim's density overrides parent prim's density as it is accumulative. Note that density of a collisionAPI can be also alternatively set through a PhysicsMaterialAPI. The material density has the weakest precedence in density definition. Note if density is 0.0 it is ignored. Units: mass/distance/distance/distance.

Declaration float physics:density = 0
C++ Type float
Usd Type SdfValueTypeNames->Float
USDPHYSICS_API UsdAttribute UsdPhysicsMassAPI::GetDiagonalInertiaAttr ( ) const

If non-zero, specifies diagonalized inertia tensor along the principal axes. Note if diagonalInertial is (0.0, 0.0, 0.0) it is ignored. Units: mass*distance*distance.

Declaration float3 physics:diagonalInertia = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Float3
USDPHYSICS_API UsdAttribute UsdPhysicsMassAPI::GetMassAttr ( ) const

If non-zero, directly specifies the mass of the object. Note that any child prim can also have a mass when they apply massAPI. In this case, the precedence rule is 'parent mass overrides the child's'. This may come as counter-intuitive, but mass is a computed quantity and in general not accumulative. For example, if a parent has mass of 10, and one of two children has mass of 20, allowing child's mass to override its parent results in a mass of -10 for the other child. Note if mass is 0.0 it is ignored. Units: mass.

Declaration float physics:mass = 0
C++ Type float
Usd Type SdfValueTypeNames->Float
USDPHYSICS_API UsdAttribute UsdPhysicsMassAPI::GetPrincipalAxesAttr ( ) const

Orientation of the inertia tensor's principal axes in the prim's local space.

Declaration quatf physics:principalAxes = (0, 0, 0, 0)
C++ Type GfQuatf
Usd Type SdfValueTypeNames->Quatf
static USDPHYSICS_API const TfTokenVector& UsdPhysicsMassAPI::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 157 of file massAPI.h.

Member Data Documentation

const UsdSchemaKind UsdPhysicsMassAPI::schemaKind = UsdSchemaKind::SingleApplyAPI
static

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

See Also
UsdSchemaKind

Definition at line 65 of file massAPI.h.


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