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meshCollisionAPI.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_MESHCOLLISIONAPI_H
25 #define USDPHYSICS_GENERATED_MESHCOLLISIONAPI_H
26 
27 /// \file usdPhysics/meshCollisionAPI.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 // PHYSICSMESHCOLLISIONAPI //
51 // -------------------------------------------------------------------------- //
52 
53 /// \class UsdPhysicsMeshCollisionAPI
54 ///
55 /// Attributes to control how a Mesh is made into a collider.
56 /// Can be applied to only a USDGeomMesh in addition to its
57 /// PhysicsCollisionAPI.
58 ///
59 /// For any described attribute \em Fallback \em Value or \em Allowed \em Values below
60 /// that are text/tokens, the actual token is published and defined in \ref UsdPhysicsTokens.
61 /// So to set an attribute to the value "rightHanded", use UsdPhysicsTokens->rightHanded
62 /// as the value.
63 ///
65 {
66 public:
67  /// Compile time constant representing what kind of schema this class is.
68  ///
69  /// \sa UsdSchemaKind
71 
72  /// Construct a UsdPhysicsMeshCollisionAPI on UsdPrim \p prim .
73  /// Equivalent to UsdPhysicsMeshCollisionAPI::Get(prim.GetStage(), prim.GetPath())
74  /// for a \em valid \p prim, but will not immediately throw an error for
75  /// an invalid \p prim
76  explicit UsdPhysicsMeshCollisionAPI(const UsdPrim& prim=UsdPrim())
77  : UsdAPISchemaBase(prim)
78  {
79  }
80 
81  /// Construct a UsdPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
82  /// Should be preferred over UsdPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
83  /// as it preserves SchemaBase state.
84  explicit UsdPhysicsMeshCollisionAPI(const UsdSchemaBase& schemaObj)
85  : UsdAPISchemaBase(schemaObj)
86  {
87  }
88 
89  /// Destructor.
92 
93  /// Return a vector of names of all pre-declared attributes for this schema
94  /// class and all its ancestor classes. Does not include attributes that
95  /// may be authored by custom/extended methods of the schemas involved.
97  static const TfTokenVector &
98  GetSchemaAttributeNames(bool includeInherited=true);
99 
100  /// Return a UsdPhysicsMeshCollisionAPI holding the prim adhering to this
101  /// schema at \p path on \p stage. If no prim exists at \p path on
102  /// \p stage, or if the prim at that path does not adhere to this schema,
103  /// return an invalid schema object. This is shorthand for the following:
104  ///
105  /// \code
106  /// UsdPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
107  /// \endcode
108  ///
111  Get(const UsdStagePtr &stage, const SdfPath &path);
112 
113 
114  /// Returns true if this <b>single-apply</b> API schema can be applied to
115  /// the given \p prim. If this schema can not be a applied to the prim,
116  /// this returns false and, if provided, populates \p whyNot with the
117  /// reason it can not be applied.
118  ///
119  /// Note that if CanApply returns false, that does not necessarily imply
120  /// that calling Apply will fail. Callers are expected to call CanApply
121  /// before calling Apply if they want to ensure that it is valid to
122  /// apply a schema.
123  ///
124  /// \sa UsdPrim::GetAppliedSchemas()
125  /// \sa UsdPrim::HasAPI()
126  /// \sa UsdPrim::CanApplyAPI()
127  /// \sa UsdPrim::ApplyAPI()
128  /// \sa UsdPrim::RemoveAPI()
129  ///
131  static bool
132  CanApply(const UsdPrim &prim, std::string *whyNot=nullptr);
133 
134  /// Applies this <b>single-apply</b> API schema to the given \p prim.
135  /// This information is stored by adding "PhysicsMeshCollisionAPI" to the
136  /// token-valued, listOp metadata \em apiSchemas on the prim.
137  ///
138  /// \return A valid UsdPhysicsMeshCollisionAPI object is returned upon success.
139  /// An invalid (or empty) UsdPhysicsMeshCollisionAPI object is returned upon
140  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
141  /// resulting in failure.
142  ///
143  /// \sa UsdPrim::GetAppliedSchemas()
144  /// \sa UsdPrim::HasAPI()
145  /// \sa UsdPrim::CanApplyAPI()
146  /// \sa UsdPrim::ApplyAPI()
147  /// \sa UsdPrim::RemoveAPI()
148  ///
151  Apply(const UsdPrim &prim);
152 
153 protected:
154  /// Returns the kind of schema this class belongs to.
155  ///
156  /// \sa UsdSchemaKind
158  UsdSchemaKind _GetSchemaKind() const override;
159 
160 private:
161  // needs to invoke _GetStaticTfType.
162  friend class UsdSchemaRegistry;
164  static const TfType &_GetStaticTfType();
165 
166  static bool _IsTypedSchema();
167 
168  // override SchemaBase virtuals.
170  const TfType &_GetTfType() const override;
171 
172 public:
173  // --------------------------------------------------------------------- //
174  // APPROXIMATION
175  // --------------------------------------------------------------------- //
176  /// Determines the mesh's collision approximation:
177  /// "none" - The mesh geometry is used directly as a collider without any
178  /// approximation.
179  /// "convexDecomposition" - A convex mesh decomposition is performed. This
180  /// results in a set of convex mesh colliders.
181  /// "convexHull" - A convex hull of the mesh is generated and used as the
182  /// collider.
183  /// "boundingSphere" - A bounding sphere is computed around the mesh and used
184  /// as a collider.
185  /// "boundingCube" - An optimally fitting box collider is computed around the
186  /// mesh.
187  /// "meshSimplification" - A mesh simplification step is performed, resulting
188  /// in a simplified triangle mesh collider.
189  ///
190  /// | ||
191  /// | -- | -- |
192  /// | Declaration | `uniform token physics:approximation = "none"` |
193  /// | C++ Type | TfToken |
194  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
195  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
196  /// | \ref UsdPhysicsTokens "Allowed Values" | none, convexDecomposition, convexHull, boundingSphere, boundingCube, meshSimplification |
199 
200  /// See GetApproximationAttr(), and also
201  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
202  /// If specified, author \p defaultValue as the attribute's default,
203  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
204  /// the default for \p writeSparsely is \c false.
206  UsdAttribute CreateApproximationAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
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 UsdSchemaKind _GetSchemaKind() const override
static USDPHYSICS_API UsdPhysicsMeshCollisionAPI Get(const UsdStagePtr &stage, const SdfPath &path)
UsdPhysicsMeshCollisionAPI(const UsdPrim &prim=UsdPrim())
virtual USDPHYSICS_API ~UsdPhysicsMeshCollisionAPI()
Destructor.
GLsizei const GLchar *const * path
Definition: glcorearb.h:3341
UsdPhysicsMeshCollisionAPI(const UsdSchemaBase &schemaObj)
UsdSchemaKind
Definition: common.h:127
Single Apply API schema.
static USDPHYSICS_API const TfTokenVector & GetSchemaAttributeNames(bool includeInherited=true)
static USDPHYSICS_API bool CanApply(const UsdPrim &prim, std::string *whyNot=nullptr)
static const UsdSchemaKind schemaKind
USDPHYSICS_API UsdAttribute CreateApproximationAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
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
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1394
static USDPHYSICS_API UsdPhysicsMeshCollisionAPI Apply(const UsdPrim &prim)
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
Definition: type.h:64
USDPHYSICS_API UsdAttribute GetApproximationAttr() const
Definition: value.h:166