#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 UsdPrimDefinition *	GetSchemaClassPrimDefinition () 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 TfTokenVector &	GetSchemaAttributeNames (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:

pxr/usd/usdPhysics/massAPI.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation