massAPI.h

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//
// Copyright 2016 Pixar
//
// Licensed under the terms set forth in the LICENSE.txt file available at
// https://openusd.org/license.
//
#ifndef USDPHYSICS_GENERATED_MASSAPI_H
#define USDPHYSICS_GENERATED_MASSAPI_H

/// \file usdPhysics/massAPI.h

#include "pxr/pxr.h"
#include "pxr/usd/usdPhysics/api.h"
#include "pxr/usd/usd/apiSchemaBase.h"
#include "pxr/usd/usd/prim.h"
#include "pxr/usd/usd/stage.h"
#include "pxr/usd/usdPhysics/tokens.h"

#include "pxr/base/vt/value.h"

#include "pxr/base/gf/vec3d.h"
#include "pxr/base/gf/vec3f.h"
#include "pxr/base/gf/matrix4d.h"

#include "pxr/base/tf/token.h"
#include "pxr/base/tf/type.h"

PXR_NAMESPACE_OPEN_SCOPE

class SdfAssetPath;

// -------------------------------------------------------------------------- //
// PHYSICSMASSAPI                                                             //
// -------------------------------------------------------------------------- //

/// \class UsdPhysicsMassAPI
///
/// Defines explicit mass properties (mass, density, inertia etc.).        
/// MassAPI can be applied to any object that has a PhysicsCollisionAPI or
/// a PhysicsRigidBodyAPI.
///
class UsdPhysicsMassAPI : public UsdAPISchemaBase
{
public:
    /// Compile time constant representing what kind of schema this class is.
    ///
    /// \sa UsdSchemaKind
    static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;

    /// Construct a UsdPhysicsMassAPI on UsdPrim \p prim .
    /// Equivalent to UsdPhysicsMassAPI::Get(prim.GetStage(), prim.GetPath())
    /// for a \em valid \p prim, but will not immediately throw an error for
    /// an invalid \p prim
    explicit UsdPhysicsMassAPI(const UsdPrim& prim=UsdPrim())
        : UsdAPISchemaBase(prim)
    {
    }

    /// Construct a UsdPhysicsMassAPI on the prim held by \p schemaObj .
    /// Should be preferred over UsdPhysicsMassAPI(schemaObj.GetPrim()),
    /// as it preserves SchemaBase state.
    explicit UsdPhysicsMassAPI(const UsdSchemaBase& schemaObj)
        : UsdAPISchemaBase(schemaObj)
    {
    }

    /// Destructor.
    USDPHYSICS_API
    virtual ~UsdPhysicsMassAPI();

    /// 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
    static const TfTokenVector &
    GetSchemaAttributeNames(bool includeInherited=true);

    /// Return a UsdPhysicsMassAPI holding the prim adhering to this
    /// schema at \p path on \p stage.  If no prim exists at \p path on
    /// \p 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:
    ///
    /// \code
    /// UsdPhysicsMassAPI(stage->GetPrimAtPath(path));
    /// \endcode
    ///
    USDPHYSICS_API
    static UsdPhysicsMassAPI
    Get(const UsdStagePtr &stage, const SdfPath &path);


    /// Returns true if this <b>single-apply</b> API schema can be applied to 
    /// the given \p prim. If this schema can not be a applied to the prim, 
    /// this returns false and, if provided, populates \p 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.
    /// 
    /// \sa UsdPrim::GetAppliedSchemas()
    /// \sa UsdPrim::HasAPI()
    /// \sa UsdPrim::CanApplyAPI()
    /// \sa UsdPrim::ApplyAPI()
    /// \sa UsdPrim::RemoveAPI()
    ///
    USDPHYSICS_API
    static bool 
    CanApply(const UsdPrim &prim, std::string *whyNot=nullptr);

    /// Applies this <b>single-apply</b> API schema to the given \p prim.
    /// This information is stored by adding "PhysicsMassAPI" to the 
    /// token-valued, listOp metadata \em apiSchemas on the prim.
    /// 
    /// \return A valid UsdPhysicsMassAPI object is returned upon success. 
    /// An invalid (or empty) UsdPhysicsMassAPI object is returned upon 
    /// failure. See \ref UsdPrim::ApplyAPI() for conditions 
    /// resulting in failure. 
    /// 
    /// \sa UsdPrim::GetAppliedSchemas()
    /// \sa UsdPrim::HasAPI()
    /// \sa UsdPrim::CanApplyAPI()
    /// \sa UsdPrim::ApplyAPI()
    /// \sa UsdPrim::RemoveAPI()
    ///
    USDPHYSICS_API
    static UsdPhysicsMassAPI 
    Apply(const UsdPrim &prim);

protected:
    /// Returns the kind of schema this class belongs to.
    ///
    /// \sa UsdSchemaKind
    USDPHYSICS_API
    UsdSchemaKind _GetSchemaKind() const override;

private:
    // needs to invoke _GetStaticTfType.
    friend class UsdSchemaRegistry;
    USDPHYSICS_API
    static const TfType &_GetStaticTfType();

    static bool _IsTypedSchema();

    // override SchemaBase virtuals.
    USDPHYSICS_API
    const TfType &_GetTfType() const override;

public:
    // --------------------------------------------------------------------- //
    // MASS 
    // --------------------------------------------------------------------- //
    /// 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 |
    /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
    USDPHYSICS_API
    UsdAttribute GetMassAttr() const;

    /// See GetMassAttr(), and also 
    /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
    /// If specified, author \p defaultValue as the attribute's default,
    /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
    /// the default for \p writeSparsely is \c false.
    USDPHYSICS_API
    UsdAttribute CreateMassAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // DENSITY 
    // --------------------------------------------------------------------- //
    /// 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 |
    /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
    USDPHYSICS_API
    UsdAttribute GetDensityAttr() const;

    /// See GetDensityAttr(), and also 
    /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
    /// If specified, author \p defaultValue as the attribute's default,
    /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
    /// the default for \p writeSparsely is \c false.
    USDPHYSICS_API
    UsdAttribute CreateDensityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // CENTEROFMASS 
    // --------------------------------------------------------------------- //
    /// Center of mass in the prim's local space. Units: distance.
    ///
    /// | ||
    /// | -- | -- |
    /// | Declaration | `point3f physics:centerOfMass = (-inf, -inf, -inf)` |
    /// | C++ Type | GfVec3f |
    /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Point3f |
    USDPHYSICS_API
    UsdAttribute GetCenterOfMassAttr() const;

    /// See GetCenterOfMassAttr(), and also 
    /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
    /// If specified, author \p defaultValue as the attribute's default,
    /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
    /// the default for \p writeSparsely is \c false.
    USDPHYSICS_API
    UsdAttribute CreateCenterOfMassAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // DIAGONALINERTIA 
    // --------------------------------------------------------------------- //
    /// 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 |
    /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float3 |
    USDPHYSICS_API
    UsdAttribute GetDiagonalInertiaAttr() const;

    /// See GetDiagonalInertiaAttr(), and also 
    /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
    /// If specified, author \p defaultValue as the attribute's default,
    /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
    /// the default for \p writeSparsely is \c false.
    USDPHYSICS_API
    UsdAttribute CreateDiagonalInertiaAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // PRINCIPALAXES 
    // --------------------------------------------------------------------- //
    /// 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 |
    /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Quatf |
    USDPHYSICS_API
    UsdAttribute GetPrincipalAxesAttr() const;

    /// See GetPrincipalAxesAttr(), and also 
    /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
    /// If specified, author \p defaultValue as the attribute's default,
    /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
    /// the default for \p writeSparsely is \c false.
    USDPHYSICS_API
    UsdAttribute CreatePrincipalAxesAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // ===================================================================== //
    // Feel free to add custom code below this line, it will be preserved by 
    // the code generator. 
    //
    // Just remember to: 
    //  - Close the class declaration with }; 
    //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
    //  - Close the include guard with #endif
    // ===================================================================== //
    // --(BEGIN CUSTOM CODE)--

};

PXR_NAMESPACE_CLOSE_SCOPE

#endif