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collisionAPI.h
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1 //
2 // Copyright 2016 Pixar
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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
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24 #ifndef USDPHYSICS_GENERATED_COLLISIONAPI_H
25 #define USDPHYSICS_GENERATED_COLLISIONAPI_H
26 
27 /// \file usdPhysics/collisionAPI.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"
35 
36 #include "pxr/base/vt/value.h"
37 
38 #include "pxr/base/gf/vec3d.h"
39 #include "pxr/base/gf/vec3f.h"
40 #include "pxr/base/gf/matrix4d.h"
41 
42 #include "pxr/base/tf/token.h"
43 #include "pxr/base/tf/type.h"
44 
46 
47 class SdfAssetPath;
48 
49 // -------------------------------------------------------------------------- //
50 // PHYSICSCOLLISIONAPI //
51 // -------------------------------------------------------------------------- //
52 
53 /// \class UsdPhysicsCollisionAPI
54 ///
55 /// Applies collision attributes to a UsdGeomXformable prim. If a
56 /// simulation is running, this geometry will collide with other geometries that
57 /// have PhysicsCollisionAPI applied. If a prim in the parent hierarchy has the
58 /// RigidBodyAPI applied, this collider is a part of that body. If there is
59 /// no body in the parent hierarchy, this collider is considered to be static.
60 ///
62 {
63 public:
64  /// Compile time constant representing what kind of schema this class is.
65  ///
66  /// \sa UsdSchemaKind
68 
69  /// Construct a UsdPhysicsCollisionAPI on UsdPrim \p prim .
70  /// Equivalent to UsdPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
71  /// for a \em valid \p prim, but will not immediately throw an error for
72  /// an invalid \p prim
73  explicit UsdPhysicsCollisionAPI(const UsdPrim& prim=UsdPrim())
74  : UsdAPISchemaBase(prim)
75  {
76  }
77 
78  /// Construct a UsdPhysicsCollisionAPI on the prim held by \p schemaObj .
79  /// Should be preferred over UsdPhysicsCollisionAPI(schemaObj.GetPrim()),
80  /// as it preserves SchemaBase state.
81  explicit UsdPhysicsCollisionAPI(const UsdSchemaBase& schemaObj)
82  : UsdAPISchemaBase(schemaObj)
83  {
84  }
85 
86  /// Destructor.
88  virtual ~UsdPhysicsCollisionAPI();
89 
90  /// Return a vector of names of all pre-declared attributes for this schema
91  /// class and all its ancestor classes. Does not include attributes that
92  /// may be authored by custom/extended methods of the schemas involved.
94  static const TfTokenVector &
95  GetSchemaAttributeNames(bool includeInherited=true);
96 
97  /// Return a UsdPhysicsCollisionAPI holding the prim adhering to this
98  /// schema at \p path on \p stage. If no prim exists at \p path on
99  /// \p stage, or if the prim at that path does not adhere to this schema,
100  /// return an invalid schema object. This is shorthand for the following:
101  ///
102  /// \code
103  /// UsdPhysicsCollisionAPI(stage->GetPrimAtPath(path));
104  /// \endcode
105  ///
108  Get(const UsdStagePtr &stage, const SdfPath &path);
109 
110 
111  /// Returns true if this <b>single-apply</b> API schema can be applied to
112  /// the given \p prim. If this schema can not be a applied to the prim,
113  /// this returns false and, if provided, populates \p whyNot with the
114  /// reason it can not be applied.
115  ///
116  /// Note that if CanApply returns false, that does not necessarily imply
117  /// that calling Apply will fail. Callers are expected to call CanApply
118  /// before calling Apply if they want to ensure that it is valid to
119  /// apply a schema.
120  ///
121  /// \sa UsdPrim::GetAppliedSchemas()
122  /// \sa UsdPrim::HasAPI()
123  /// \sa UsdPrim::CanApplyAPI()
124  /// \sa UsdPrim::ApplyAPI()
125  /// \sa UsdPrim::RemoveAPI()
126  ///
128  static bool
129  CanApply(const UsdPrim &prim, std::string *whyNot=nullptr);
130 
131  /// Applies this <b>single-apply</b> API schema to the given \p prim.
132  /// This information is stored by adding "PhysicsCollisionAPI" to the
133  /// token-valued, listOp metadata \em apiSchemas on the prim.
134  ///
135  /// \return A valid UsdPhysicsCollisionAPI object is returned upon success.
136  /// An invalid (or empty) UsdPhysicsCollisionAPI object is returned upon
137  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
138  /// resulting in failure.
139  ///
140  /// \sa UsdPrim::GetAppliedSchemas()
141  /// \sa UsdPrim::HasAPI()
142  /// \sa UsdPrim::CanApplyAPI()
143  /// \sa UsdPrim::ApplyAPI()
144  /// \sa UsdPrim::RemoveAPI()
145  ///
147  static UsdPhysicsCollisionAPI
148  Apply(const UsdPrim &prim);
149 
150 protected:
151  /// Returns the kind of schema this class belongs to.
152  ///
153  /// \sa UsdSchemaKind
155  UsdSchemaKind _GetSchemaKind() const override;
156 
157 private:
158  // needs to invoke _GetStaticTfType.
159  friend class UsdSchemaRegistry;
161  static const TfType &_GetStaticTfType();
162 
163  static bool _IsTypedSchema();
164 
165  // override SchemaBase virtuals.
167  const TfType &_GetTfType() const override;
168 
169 public:
170  // --------------------------------------------------------------------- //
171  // COLLISIONENABLED
172  // --------------------------------------------------------------------- //
173  /// Determines if the PhysicsCollisionAPI is enabled.
174  ///
175  /// | ||
176  /// | -- | -- |
177  /// | Declaration | `bool physics:collisionEnabled = 1` |
178  /// | C++ Type | bool |
179  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
182 
183  /// See GetCollisionEnabledAttr(), and also
184  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
185  /// If specified, author \p defaultValue as the attribute's default,
186  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
187  /// the default for \p writeSparsely is \c false.
189  UsdAttribute CreateCollisionEnabledAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
190 
191 public:
192  // --------------------------------------------------------------------- //
193  // SIMULATIONOWNER
194  // --------------------------------------------------------------------- //
195  /// Single PhysicsScene that will simulate this collider.
196  /// By default this object belongs to the first PhysicsScene.
197  /// Note that if a RigidBodyAPI in the hierarchy above has a different
198  /// simulationOwner then it has a precedence over this relationship.
199  ///
202 
203  /// See GetSimulationOwnerRel(), and also
204  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
207 
208 public:
209  // ===================================================================== //
210  // Feel free to add custom code below this line, it will be preserved by
211  // the code generator.
212  //
213  // Just remember to:
214  // - Close the class declaration with };
215  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
216  // - Close the include guard with #endif
217  // ===================================================================== //
218  // --(BEGIN CUSTOM CODE)--
219 };
220 
222 
223 #endif
USDPHYSICS_API UsdAttribute CreateCollisionEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
GLsizei const GLchar *const * path
Definition: glcorearb.h:3341
USDPHYSICS_API UsdRelationship GetSimulationOwnerRel() const
static USDPHYSICS_API bool CanApply(const UsdPrim &prim, std::string *whyNot=nullptr)
UsdSchemaKind
Definition: common.h:127
UsdPhysicsCollisionAPI(const UsdPrim &prim=UsdPrim())
Definition: collisionAPI.h:73
Single Apply API schema.
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
USDPHYSICS_API UsdSchemaKind _GetSchemaKind() const override
static USDPHYSICS_API const TfTokenVector & GetSchemaAttributeNames(bool includeInherited=true)
UsdPhysicsCollisionAPI(const UsdSchemaBase &schemaObj)
Definition: collisionAPI.h:81
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1394
virtual USDPHYSICS_API ~UsdPhysicsCollisionAPI()
Destructor.
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
USDPHYSICS_API UsdRelationship CreateSimulationOwnerRel() const
Definition: type.h:64
USDPHYSICS_API UsdAttribute GetCollisionEnabledAttr() const
static USDPHYSICS_API UsdPhysicsCollisionAPI Apply(const UsdPrim &prim)
static USDPHYSICS_API UsdPhysicsCollisionAPI Get(const UsdStagePtr &stage, const SdfPath &path)
static const UsdSchemaKind schemaKind
Definition: collisionAPI.h:67
Definition: value.h:166