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prismaticJoint.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_PRISMATICJOINT_H
25 #define USDPHYSICS_GENERATED_PRISMATICJOINT_H
26 
27 /// \file usdPhysics/prismaticJoint.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 // PHYSICSPRISMATICJOINT //
51 // -------------------------------------------------------------------------- //
52 
53 /// \class UsdPhysicsPrismaticJoint
54 ///
55 /// Predefined prismatic joint type (translation along prismatic
56 /// joint axis is permitted.)
57 ///
58 /// For any described attribute \em Fallback \em Value or \em Allowed \em Values below
59 /// that are text/tokens, the actual token is published and defined in \ref UsdPhysicsTokens.
60 /// So to set an attribute to the value "rightHanded", use UsdPhysicsTokens->rightHanded
61 /// as the value.
62 ///
64 {
65 public:
66  /// Compile time constant representing what kind of schema this class is.
67  ///
68  /// \sa UsdSchemaKind
70 
71  /// Construct a UsdPhysicsPrismaticJoint on UsdPrim \p prim .
72  /// Equivalent to UsdPhysicsPrismaticJoint::Get(prim.GetStage(), prim.GetPath())
73  /// for a \em valid \p prim, but will not immediately throw an error for
74  /// an invalid \p prim
75  explicit UsdPhysicsPrismaticJoint(const UsdPrim& prim=UsdPrim())
76  : UsdPhysicsJoint(prim)
77  {
78  }
79 
80  /// Construct a UsdPhysicsPrismaticJoint on the prim held by \p schemaObj .
81  /// Should be preferred over UsdPhysicsPrismaticJoint(schemaObj.GetPrim()),
82  /// as it preserves SchemaBase state.
83  explicit UsdPhysicsPrismaticJoint(const UsdSchemaBase& schemaObj)
84  : UsdPhysicsJoint(schemaObj)
85  {
86  }
87 
88  /// Destructor.
90  virtual ~UsdPhysicsPrismaticJoint();
91 
92  /// Return a vector of names of all pre-declared attributes for this schema
93  /// class and all its ancestor classes. Does not include attributes that
94  /// may be authored by custom/extended methods of the schemas involved.
96  static const TfTokenVector &
97  GetSchemaAttributeNames(bool includeInherited=true);
98 
99  /// Return a UsdPhysicsPrismaticJoint holding the prim adhering to this
100  /// schema at \p path on \p stage. If no prim exists at \p path on
101  /// \p stage, or if the prim at that path does not adhere to this schema,
102  /// return an invalid schema object. This is shorthand for the following:
103  ///
104  /// \code
105  /// UsdPhysicsPrismaticJoint(stage->GetPrimAtPath(path));
106  /// \endcode
107  ///
110  Get(const UsdStagePtr &stage, const SdfPath &path);
111 
112  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
113  /// is defined (according to UsdPrim::IsDefined()) on this stage.
114  ///
115  /// If a prim adhering to this schema at \p path is already defined on this
116  /// stage, return that prim. Otherwise author an \a SdfPrimSpec with
117  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
118  /// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
119  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
120  /// current EditTarget for any nonexistent, or existing but not \a Defined
121  /// ancestors.
122  ///
123  /// The given \a path must be an absolute prim path that does not contain
124  /// any variant selections.
125  ///
126  /// If it is impossible to author any of the necessary PrimSpecs, (for
127  /// example, in case \a path cannot map to the current UsdEditTarget's
128  /// namespace) issue an error and return an invalid \a UsdPrim.
129  ///
130  /// Note that this method may return a defined prim whose typeName does not
131  /// specify this schema class, in case a stronger typeName opinion overrides
132  /// the opinion at the current EditTarget.
133  ///
136  Define(const UsdStagePtr &stage, const SdfPath &path);
137 
138 protected:
139  /// Returns the kind of schema this class belongs to.
140  ///
141  /// \sa UsdSchemaKind
143  UsdSchemaKind _GetSchemaKind() const override;
144 
145 private:
146  // needs to invoke _GetStaticTfType.
147  friend class UsdSchemaRegistry;
149  static const TfType &_GetStaticTfType();
150 
151  static bool _IsTypedSchema();
152 
153  // override SchemaBase virtuals.
155  const TfType &_GetTfType() const override;
156 
157 public:
158  // --------------------------------------------------------------------- //
159  // AXIS
160  // --------------------------------------------------------------------- //
161  /// Joint axis.
162  ///
163  /// | ||
164  /// | -- | -- |
165  /// | Declaration | `uniform token physics:axis = "X"` |
166  /// | C++ Type | TfToken |
167  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
168  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
169  /// | \ref UsdPhysicsTokens "Allowed Values" | X, Y, Z |
171  UsdAttribute GetAxisAttr() const;
172 
173  /// See GetAxisAttr(), and also
174  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
175  /// If specified, author \p defaultValue as the attribute's default,
176  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
177  /// the default for \p writeSparsely is \c false.
179  UsdAttribute CreateAxisAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
180 
181 public:
182  // --------------------------------------------------------------------- //
183  // LOWERLIMIT
184  // --------------------------------------------------------------------- //
185  /// Lower limit. Units: distance. -inf means not limited in
186  /// negative direction.
187  ///
188  /// | ||
189  /// | -- | -- |
190  /// | Declaration | `float physics:lowerLimit = -inf` |
191  /// | C++ Type | float |
192  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
195 
196  /// See GetLowerLimitAttr(), and also
197  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
198  /// If specified, author \p defaultValue as the attribute's default,
199  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
200  /// the default for \p writeSparsely is \c false.
202  UsdAttribute CreateLowerLimitAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
203 
204 public:
205  // --------------------------------------------------------------------- //
206  // UPPERLIMIT
207  // --------------------------------------------------------------------- //
208  /// Upper limit. Units: distance. inf means not limited in
209  /// positive direction.
210  ///
211  /// | ||
212  /// | -- | -- |
213  /// | Declaration | `float physics:upperLimit = inf` |
214  /// | C++ Type | float |
215  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
218 
219  /// See GetUpperLimitAttr(), and also
220  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
221  /// If specified, author \p defaultValue as the attribute's default,
222  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
223  /// the default for \p writeSparsely is \c false.
225  UsdAttribute CreateUpperLimitAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
226 
227 public:
228  // ===================================================================== //
229  // Feel free to add custom code below this line, it will be preserved by
230  // the code generator.
231  //
232  // Just remember to:
233  // - Close the class declaration with };
234  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
235  // - Close the include guard with #endif
236  // ===================================================================== //
237  // --(BEGIN CUSTOM CODE)--
238 };
239 
241 
242 #endif
virtual USDPHYSICS_API ~UsdPhysicsPrismaticJoint()
Destructor.
UsdPhysicsPrismaticJoint(const UsdSchemaBase &schemaObj)
USDPHYSICS_API UsdAttribute CreateAxisAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
UsdPhysicsPrismaticJoint(const UsdPrim &prim=UsdPrim())
static USDPHYSICS_API UsdPhysicsPrismaticJoint Get(const UsdStagePtr &stage, const SdfPath &path)
GLsizei const GLchar *const * path
Definition: glcorearb.h:3341
USDPHYSICS_API UsdAttribute CreateLowerLimitAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
UsdSchemaKind
Definition: common.h:127
USDPHYSICS_API UsdAttribute GetAxisAttr() const
static USDPHYSICS_API UsdPhysicsPrismaticJoint Define(const UsdStagePtr &stage, const SdfPath &path)
USDPHYSICS_API UsdAttribute CreateUpperLimitAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
Represents a concrete typed schema.
Definition: prim.h:132
std::vector< TfToken > TfTokenVector
Convenience types.
Definition: token.h:442
USDPHYSICS_API UsdSchemaKind _GetSchemaKind() const override
Definition: path.h:290
static const UsdSchemaKind schemaKind
#define USDPHYSICS_API
Definition: api.h:40
static USDPHYSICS_API const TfTokenVector & GetSchemaAttributeNames(bool includeInherited=true)
USDPHYSICS_API UsdAttribute GetLowerLimitAttr() const
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1394
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
Definition: type.h:64
USDPHYSICS_API UsdAttribute GetUpperLimitAttr() const
Definition: value.h:166