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UsdPhysicsRigidBodyAPI Class Reference

#include <rigidBodyAPI.h>

+ Inheritance diagram for UsdPhysicsRigidBodyAPI:

Public Member Functions

 UsdPhysicsRigidBodyAPI (const UsdPrim &prim=UsdPrim())
 
 UsdPhysicsRigidBodyAPI (const UsdSchemaBase &schemaObj)
 
virtual USDPHYSICS_API ~UsdPhysicsRigidBodyAPI ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetRigidBodyEnabledAttr () const
 
USDPHYSICS_API UsdAttribute CreateRigidBodyEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetKinematicEnabledAttr () const
 
USDPHYSICS_API UsdAttribute CreateKinematicEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetStartsAsleepAttr () const
 
USDPHYSICS_API UsdAttribute CreateStartsAsleepAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetVelocityAttr () const
 
USDPHYSICS_API UsdAttribute CreateVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdAttribute GetAngularVelocityAttr () const
 
USDPHYSICS_API UsdAttribute CreateAngularVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 
USDPHYSICS_API UsdRelationship GetSimulationOwnerRel () const
 
USDPHYSICS_API UsdRelationship CreateSimulationOwnerRel () 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
UsdPhysicsRigidBodyAPI 
Get (const UsdStagePtr &stage, const SdfPath &path)
 
static USDPHYSICS_API bool CanApply (const UsdPrim &prim, std::string *whyNot=nullptr)
 
static USDPHYSICS_API
UsdPhysicsRigidBodyAPI 
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
template<typename APISchemaType >
static APISchemaType _ApplyAPISchema (const UsdPrim &prim, const TfToken &apiSchemaName)
 
template<typename APISchemaType >
static APISchemaType _MultipleApplyAPISchema (const UsdPrim &prim, const TfToken &apiSchemaName, const TfToken &instanceName)
 

Detailed Description

Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation. If a simulation is running it will update this prim's pose. All prims in the hierarchy below this prim should move accordingly.

Definition at line 60 of file rigidBodyAPI.h.

Constructor & Destructor Documentation

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

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

Definition at line 72 of file rigidBodyAPI.h.

UsdPhysicsRigidBodyAPI::UsdPhysicsRigidBodyAPI ( const UsdSchemaBase schemaObj)
inlineexplicit

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

Definition at line 80 of file rigidBodyAPI.h.

virtual USDPHYSICS_API UsdPhysicsRigidBodyAPI::~UsdPhysicsRigidBodyAPI ( )
virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsRigidBodyAPI::_GetSchemaKind ( ) const
overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also
UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

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

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

Returns
A valid UsdPhysicsRigidBodyAPI object is returned upon success. An invalid (or empty) UsdPhysicsRigidBodyAPI 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 UsdPhysicsRigidBodyAPI::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 UsdPhysicsRigidBodyAPI::CreateAngularVelocityAttr ( VtValue const defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetAngularVelocityAttr(), 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 UsdPhysicsRigidBodyAPI::CreateKinematicEnabledAttr ( VtValue const defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetKinematicEnabledAttr(), 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 UsdPhysicsRigidBodyAPI::CreateRigidBodyEnabledAttr ( VtValue const defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetRigidBodyEnabledAttr(), 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 UsdRelationship UsdPhysicsRigidBodyAPI::CreateSimulationOwnerRel ( ) const

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

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::CreateStartsAsleepAttr ( VtValue const defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetStartsAsleepAttr(), 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 UsdPhysicsRigidBodyAPI::CreateVelocityAttr ( VtValue const defaultValue = VtValue(),
bool  writeSparsely = false 
) const

See GetVelocityAttr(), 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 UsdPhysicsRigidBodyAPI UsdPhysicsRigidBodyAPI::Get ( const UsdStagePtr &  stage,
const SdfPath path 
)
static

Return a UsdPhysicsRigidBodyAPI 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:

UsdPhysicsRigidBodyAPI(stage->GetPrimAtPath(path));
USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetAngularVelocityAttr ( ) const

Angular velocity in the same space as the node's xform. Units: degrees/second.

Declaration vector3f physics:angularVelocity = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Vector3f
USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetKinematicEnabledAttr ( ) const

Determines whether the body is kinematic or not. A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation derives velocities for the kinematic body based on the external motion. When a continuous motion is not desired, this kinematic flag should be set to false.

Declaration bool physics:kinematicEnabled = 0
C++ Type bool
Usd Type SdfValueTypeNames->Bool
USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetRigidBodyEnabledAttr ( ) const

Determines if this PhysicsRigidBodyAPI is enabled.

Declaration bool physics:rigidBodyEnabled = 1
C++ Type bool
Usd Type SdfValueTypeNames->Bool
static USDPHYSICS_API const TfTokenVector& UsdPhysicsRigidBodyAPI::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.

USDPHYSICS_API UsdRelationship UsdPhysicsRigidBodyAPI::GetSimulationOwnerRel ( ) const

Single PhysicsScene that will simulate this body. By default this is the first PhysicsScene found in the stage using UsdStage::Traverse().

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetStartsAsleepAttr ( ) const

Determines if the body is asleep when the simulation starts.

Declaration uniform bool physics:startsAsleep = 0
C++ Type bool
Usd Type SdfValueTypeNames->Bool
Variability SdfVariabilityUniform
USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetVelocityAttr ( ) const

Linear velocity in the same space as the node's xform. Units: distance/second.

Declaration vector3f physics:velocity = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Vector3f

Friends And Related Function Documentation

friend class UsdSchemaRegistry
friend

Definition at line 158 of file rigidBodyAPI.h.

Member Data Documentation

const UsdSchemaKind UsdPhysicsRigidBodyAPI::schemaKind = UsdSchemaKind::SingleApplyAPI
static

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

See Also
UsdSchemaKind

Definition at line 66 of file rigidBodyAPI.h.


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