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sphericalJoint.h
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1 //
2 // Copyright 2016 Pixar
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5 // with the following modification; you may not use this file except in
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24 #ifndef USDPHYSICS_GENERATED_SPHERICALJOINT_H
25 #define USDPHYSICS_GENERATED_SPHERICALJOINT_H
26 
27 /// \file usdPhysics/sphericalJoint.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 // PHYSICSSPHERICALJOINT //
51 // -------------------------------------------------------------------------- //
52 
53 /// \class UsdPhysicsSphericalJoint
54 ///
55 /// Predefined spherical joint type (Removes linear degrees of
56 /// freedom, cone limit may restrict the motion in a given range.) It allows
57 /// two limit values, which when equal create a circular, else an elliptic
58 /// cone limit around the limit axis.
59 ///
60 /// For any described attribute \em Fallback \em Value or \em Allowed \em Values below
61 /// that are text/tokens, the actual token is published and defined in \ref UsdPhysicsTokens.
62 /// So to set an attribute to the value "rightHanded", use UsdPhysicsTokens->rightHanded
63 /// as the value.
64 ///
66 {
67 public:
68  /// Compile time constant representing what kind of schema this class is.
69  ///
70  /// \sa UsdSchemaKind
72 
73  /// Construct a UsdPhysicsSphericalJoint on UsdPrim \p prim .
74  /// Equivalent to UsdPhysicsSphericalJoint::Get(prim.GetStage(), prim.GetPath())
75  /// for a \em valid \p prim, but will not immediately throw an error for
76  /// an invalid \p prim
77  explicit UsdPhysicsSphericalJoint(const UsdPrim& prim=UsdPrim())
78  : UsdPhysicsJoint(prim)
79  {
80  }
81 
82  /// Construct a UsdPhysicsSphericalJoint on the prim held by \p schemaObj .
83  /// Should be preferred over UsdPhysicsSphericalJoint(schemaObj.GetPrim()),
84  /// as it preserves SchemaBase state.
85  explicit UsdPhysicsSphericalJoint(const UsdSchemaBase& schemaObj)
86  : UsdPhysicsJoint(schemaObj)
87  {
88  }
89 
90  /// Destructor.
92  virtual ~UsdPhysicsSphericalJoint();
93 
94  /// Return a vector of names of all pre-declared attributes for this schema
95  /// class and all its ancestor classes. Does not include attributes that
96  /// may be authored by custom/extended methods of the schemas involved.
98  static const TfTokenVector &
99  GetSchemaAttributeNames(bool includeInherited=true);
100 
101  /// Return a UsdPhysicsSphericalJoint holding the prim adhering to this
102  /// schema at \p path on \p stage. If no prim exists at \p path on
103  /// \p stage, or if the prim at that path does not adhere to this schema,
104  /// return an invalid schema object. This is shorthand for the following:
105  ///
106  /// \code
107  /// UsdPhysicsSphericalJoint(stage->GetPrimAtPath(path));
108  /// \endcode
109  ///
112  Get(const UsdStagePtr &stage, const SdfPath &path);
113 
114  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
115  /// is defined (according to UsdPrim::IsDefined()) on this stage.
116  ///
117  /// If a prim adhering to this schema at \p path is already defined on this
118  /// stage, return that prim. Otherwise author an \a SdfPrimSpec with
119  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
120  /// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
121  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
122  /// current EditTarget for any nonexistent, or existing but not \a Defined
123  /// ancestors.
124  ///
125  /// The given \a path must be an absolute prim path that does not contain
126  /// any variant selections.
127  ///
128  /// If it is impossible to author any of the necessary PrimSpecs, (for
129  /// example, in case \a path cannot map to the current UsdEditTarget's
130  /// namespace) issue an error and return an invalid \a UsdPrim.
131  ///
132  /// Note that this method may return a defined prim whose typeName does not
133  /// specify this schema class, in case a stronger typeName opinion overrides
134  /// the opinion at the current EditTarget.
135  ///
138  Define(const UsdStagePtr &stage, const SdfPath &path);
139 
140 protected:
141  /// Returns the kind of schema this class belongs to.
142  ///
143  /// \sa UsdSchemaKind
145  UsdSchemaKind _GetSchemaKind() const override;
146 
147 private:
148  // needs to invoke _GetStaticTfType.
149  friend class UsdSchemaRegistry;
151  static const TfType &_GetStaticTfType();
152 
153  static bool _IsTypedSchema();
154 
155  // override SchemaBase virtuals.
157  const TfType &_GetTfType() const override;
158 
159 public:
160  // --------------------------------------------------------------------- //
161  // AXIS
162  // --------------------------------------------------------------------- //
163  /// Cone limit axis.
164  ///
165  /// | ||
166  /// | -- | -- |
167  /// | Declaration | `uniform token physics:axis = "X"` |
168  /// | C++ Type | TfToken |
169  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
170  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
171  /// | \ref UsdPhysicsTokens "Allowed Values" | X, Y, Z |
173  UsdAttribute GetAxisAttr() const;
174 
175  /// See GetAxisAttr(), and also
176  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
177  /// If specified, author \p defaultValue as the attribute's default,
178  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
179  /// the default for \p writeSparsely is \c false.
181  UsdAttribute CreateAxisAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
182 
183 public:
184  // --------------------------------------------------------------------- //
185  // CONEANGLE0LIMIT
186  // --------------------------------------------------------------------- //
187  /// Cone limit from the primary joint axis in the local0 frame
188  /// toward the next axis. (Next axis of X is Y, and of Z is X.) A
189  /// negative value means not limited. Units: degrees.
190  ///
191  /// | ||
192  /// | -- | -- |
193  /// | Declaration | `float physics:coneAngle0Limit = -1` |
194  /// | C++ Type | float |
195  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
198 
199  /// See GetConeAngle0LimitAttr(), and also
200  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
201  /// If specified, author \p defaultValue as the attribute's default,
202  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
203  /// the default for \p writeSparsely is \c false.
205  UsdAttribute CreateConeAngle0LimitAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
206 
207 public:
208  // --------------------------------------------------------------------- //
209  // CONEANGLE1LIMIT
210  // --------------------------------------------------------------------- //
211  /// Cone limit from the primary joint axis in the local0 frame
212  /// toward the second to next axis. A negative value means not limited.
213  /// Units: degrees.
214  ///
215  /// | ||
216  /// | -- | -- |
217  /// | Declaration | `float physics:coneAngle1Limit = -1` |
218  /// | C++ Type | float |
219  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
222 
223  /// See GetConeAngle1LimitAttr(), and also
224  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
225  /// If specified, author \p defaultValue as the attribute's default,
226  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
227  /// the default for \p writeSparsely is \c false.
229  UsdAttribute CreateConeAngle1LimitAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
230 
231 public:
232  // ===================================================================== //
233  // Feel free to add custom code below this line, it will be preserved by
234  // the code generator.
235  //
236  // Just remember to:
237  // - Close the class declaration with };
238  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
239  // - Close the include guard with #endif
240  // ===================================================================== //
241  // --(BEGIN CUSTOM CODE)--
242 };
243 
245 
246 #endif
USDPHYSICS_API UsdAttribute GetConeAngle0LimitAttr() const
USDPHYSICS_API UsdAttribute GetConeAngle1LimitAttr() const
UsdPhysicsSphericalJoint(const UsdPrim &prim=UsdPrim())
GLsizei const GLchar *const * path
Definition: glcorearb.h:3341
USDPHYSICS_API UsdAttribute GetAxisAttr() const
static USDPHYSICS_API const TfTokenVector & GetSchemaAttributeNames(bool includeInherited=true)
USDPHYSICS_API UsdAttribute CreateConeAngle1LimitAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
static const UsdSchemaKind schemaKind
UsdPhysicsSphericalJoint(const UsdSchemaBase &schemaObj)
UsdSchemaKind
Definition: common.h:127
static USDPHYSICS_API UsdPhysicsSphericalJoint Get(const UsdStagePtr &stage, const SdfPath &path)
USDPHYSICS_API UsdAttribute CreateConeAngle0LimitAttr(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
Definition: path.h:290
USDPHYSICS_API UsdAttribute CreateAxisAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
#define USDPHYSICS_API
Definition: api.h:40
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1394
static USDPHYSICS_API UsdPhysicsSphericalJoint Define(const UsdStagePtr &stage, const SdfPath &path)
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
Definition: type.h:64
virtual USDPHYSICS_API ~UsdPhysicsSphericalJoint()
Destructor.
USDPHYSICS_API UsdSchemaKind _GetSchemaKind() const override
Definition: value.h:166