#include <driveAPI.h>

Inheritance diagram for UsdPhysicsDriveAPI:

Public Member Functions
	UsdPhysicsDriveAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())

	UsdPhysicsDriveAPI (const UsdSchemaBase &schemaObj, const TfToken &name)

virtual USDPHYSICS_API	~UsdPhysicsDriveAPI ()
	Destructor. More...

TfToken	GetName () const
	Returns the name of this multiple-apply schema instance. More...

USDPHYSICS_API UsdAttribute	GetTypeAttr () const

USDPHYSICS_API UsdAttribute	CreateTypeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const

USDPHYSICS_API UsdAttribute	GetMaxForceAttr () const

USDPHYSICS_API UsdAttribute	CreateMaxForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const

USDPHYSICS_API UsdAttribute	GetTargetPositionAttr () const

USDPHYSICS_API UsdAttribute	CreateTargetPositionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const

USDPHYSICS_API UsdAttribute	GetTargetVelocityAttr () const

USDPHYSICS_API UsdAttribute	CreateTargetVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const

USDPHYSICS_API UsdAttribute	GetDampingAttr () const

USDPHYSICS_API UsdAttribute	CreateDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const

USDPHYSICS_API UsdAttribute	GetStiffnessAttr () const

USDPHYSICS_API UsdAttribute	CreateStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const

Public Member Functions inherited from UsdAPISchemaBase
	UsdAPISchemaBase (const UsdPrim &prim=UsdPrim())

	UsdAPISchemaBase (const UsdSchemaBase &schemaObj)

virtual USD_API	~UsdAPISchemaBase ()=0
	Destructor. More...

Public Member Functions inherited from UsdSchemaBase
bool	IsConcrete () const

bool	IsTyped () const

bool	IsAPISchema () const
	Returns whether this is an API schema or not. More...

bool	IsAppliedAPISchema () const

bool	IsMultipleApplyAPISchema () const

UsdSchemaKind	GetSchemaKind () const
	Returns the kind of schema this class is. More...

USD_API	UsdSchemaBase (const UsdPrim &prim=UsdPrim())
	Construct and store `prim` as the held prim. More...

USD_API	UsdSchemaBase (const UsdSchemaBase &otherSchema)
	Construct and store for the same prim held by `otherSchema`. More...

virtual USD_API	~UsdSchemaBase ()
	Destructor. More...

USD_API	operator bool () const

UsdPrim	GetPrim () const
	Return this schema object's held prim. More...

SdfPath	GetPath () const
	Shorthand for GetPrim()->GetPath(). More...

USD_API const UsdPrimDefinition *	GetSchemaClassPrimDefinition () const

Static Public Member Functions
static USDPHYSICS_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

static USDPHYSICS_API TfTokenVector	GetSchemaAttributeNames (bool includeInherited, const TfToken &instanceName)

static USDPHYSICS_API UsdPhysicsDriveAPI	Get (const UsdStagePtr &stage, const SdfPath &path)

static USDPHYSICS_API UsdPhysicsDriveAPI	Get (const UsdPrim &prim, const TfToken &name)

static USDPHYSICS_API std::vector < UsdPhysicsDriveAPI >	GetAll (const UsdPrim &prim)

static USDPHYSICS_API bool	IsSchemaPropertyBaseName (const TfToken &baseName)

static USDPHYSICS_API bool	IsPhysicsDriveAPIPath (const SdfPath &path, TfToken *name)

static USDPHYSICS_API bool	CanApply (const UsdPrim &prim, const TfToken &name, std::string *whyNot=nullptr)

static USDPHYSICS_API UsdPhysicsDriveAPI	Apply (const UsdPrim &prim, const TfToken &name)

Static Public Member Functions inherited from UsdAPISchemaBase
static USD_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::MultipleApplyAPI

Static Public Attributes inherited from UsdAPISchemaBase
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractBase

Static Public Attributes inherited from UsdSchemaBase
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractBase

Protected Member Functions
USDPHYSICS_API UsdSchemaKind	_GetSchemaKind () const override

Protected Member Functions inherited from UsdAPISchemaBase
	UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName)

	UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName)

const TfToken &	_GetInstanceName () const

USD_API bool	_IsCompatible () const override

Protected Member Functions inherited from UsdSchemaBase
virtual UsdSchemaKind	_GetSchemaType () const

const TfType &	_GetType () const

USD_API UsdAttribute	_CreateAttr (TfToken const &attrName, SdfValueTypeName const &typeName, bool custom, SdfVariability variability, VtValue const &defaultValue, bool writeSparsely) const

Friends
class	UsdSchemaRegistry

Additional Inherited Members
Static Protected Member Functions inherited from UsdAPISchemaBase
static USD_API TfTokenVector	_GetMultipleApplyInstanceNames (const UsdPrim &prim, const TfType &schemaType)

Detailed Description

The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target. The PhysicsDriveAPI is a multipleApply schema: drive can be set per axis "transX", "transY", "transZ", "rotX", "rotY", "rotZ" or its "linear" for prismatic joint or "angular" for revolute joints. Setting these as a multipleApply schema TfToken name will define the degree of freedom the DriveAPI is applied to. Each drive is an implicit force-limited damped spring: Force or acceleration = stiffness * (targetPosition - position)

damping * (targetVelocity - velocity)

For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in UsdPhysicsTokens. So to set an attribute to the value "rightHanded", use UsdPhysicsTokens->rightHanded as the value.

Definition at line 70 of file driveAPI.h.

Constructor & Destructor Documentation

UsdPhysicsDriveAPI::UsdPhysicsDriveAPI	(	const UsdPrim &	prim = `UsdPrim()`,
		const TfToken &	name = `TfToken()`
	)

inlineexplicit

Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name . Equivalent to UsdPhysicsDriveAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "drive:name"));

for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 87 of file driveAPI.h.

UsdPhysicsDriveAPI::UsdPhysicsDriveAPI	(	const UsdSchemaBase &	schemaObj,
		const TfToken &	name
	)

inlineexplicit

Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name. Should be preferred over UsdPhysicsDriveAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.

Definition at line 96 of file driveAPI.h.

virtual USDPHYSICS_API UsdPhysicsDriveAPI::~UsdPhysicsDriveAPI ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsDriveAPI::_GetSchemaKind ( ) const

overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also: UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

static USDPHYSICS_API UsdPhysicsDriveAPI UsdPhysicsDriveAPI::Apply	(	const UsdPrim &	prim,
		const TfToken &	name
	)

static

Applies this multiple-apply API schema to the given prim along with the given instance name, name.

This information is stored by adding "PhysicsDriveAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is 'instance1', the token 'PhysicsDriveAPI:instance1' is added to 'apiSchemas'.

Returns: A valid UsdPhysicsDriveAPI object is returned upon success. An invalid (or empty) UsdPhysicsDriveAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::CanApplyAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

static USDPHYSICS_API bool UsdPhysicsDriveAPI::CanApply	(	const UsdPrim &	prim,
		const TfToken &	name,
		std::string *	whyNot = `nullptr`
	)

static

Returns true if this multiple-apply API schema can be applied, with the given instance name, name, to the given prim. If this schema can not be a applied the prim, this returns false and, if provided, populates 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.

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::CanApplyAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::CreateDampingAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::CreateMaxForceAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetMaxForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::CreateStiffnessAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetStiffnessAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::CreateTargetPositionAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetTargetPositionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::CreateTargetVelocityAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetTargetVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::CreateTypeAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetTypeAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

static USDPHYSICS_API UsdPhysicsDriveAPI UsdPhysicsDriveAPI::Get	(	const UsdStagePtr &	stage,
		const SdfPath &	path
	)

static

Return a UsdPhysicsDriveAPI holding the prim adhering to this schema at path on stage. If no prim exists at path on stage, or if the prim at that path does not adhere to this schema, return an invalid schema object. path must be of the format <path>.drive:name .

This is shorthand for the following:

TfToken name = SdfPath::StripNamespace(path.GetToken());
UsdPhysicsDriveAPI(
    stage->GetPrimAtPath(path.GetPrimPath()), name);

static USDPHYSICS_API UsdPhysicsDriveAPI UsdPhysicsDriveAPI::Get	(	const UsdPrim &	prim,
		const TfToken &	name
	)

static

Return a UsdPhysicsDriveAPI with name name holding the prim prim. Shorthand for UsdPhysicsDriveAPI(prim, name);

static USDPHYSICS_API std::vector<UsdPhysicsDriveAPI> UsdPhysicsDriveAPI::GetAll ( const UsdPrim & prim )

static

Return a vector of all named instances of UsdPhysicsDriveAPI on the given prim.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::GetDampingAttr ( ) const

Damping of the drive. Units: if linear drive: mass/second If angular drive: mass*DIST_UNITS*DIST_UNITS/second/degrees.


Declaration	`float physics:damping = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::GetMaxForceAttr ( ) const

Maximum force that can be applied to drive. Units: if linear drive: mass*DIST_UNITS/second/second if angular drive: mass*DIST_UNITS*DIST_UNITS/second/second inf means not limited. Must be non-negative.


Declaration	`float physics:maxForce = inf`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

TfToken UsdPhysicsDriveAPI::GetName ( ) const

inline

Returns the name of this multiple-apply schema instance.

Definition at line 122 of file driveAPI.h.

static USDPHYSICS_API const TfTokenVector& UsdPhysicsDriveAPI::GetSchemaAttributeNames ( bool includeInherited = true )

static

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.

static USDPHYSICS_API TfTokenVector UsdPhysicsDriveAPI::GetSchemaAttributeNames	(	bool	includeInherited,
		const TfToken &	instanceName
	)

static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. Does not include attributes that may be authored by custom/extended methods of the schemas involved. The names returned will have the proper namespace prefix.

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::GetStiffnessAttr ( ) const

Stiffness of the drive. Units: if linear drive: mass/second/second if angular drive: mass*DIST_UNITS*DIST_UNITS/degrees/second/second.


Declaration	`float physics:stiffness = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::GetTargetPositionAttr ( ) const

Target value for position. Units: if linear drive: distance if angular drive: degrees.


Declaration	`float physics:targetPosition = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::GetTargetVelocityAttr ( ) const

Target value for velocity. Units: if linear drive: distance/second if angular drive: degrees/second.


Declaration	`float physics:targetVelocity = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute UsdPhysicsDriveAPI::GetTypeAttr ( ) const

Drive spring is for the acceleration at the joint (rather than the force).


Declaration	`uniform token physics:type = "force"`
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Variability	SdfVariabilityUniform
Allowed Values	force, acceleration

static USDPHYSICS_API bool UsdPhysicsDriveAPI::IsPhysicsDriveAPIPath	(	const SdfPath &	path,
		TfToken *	name
	)

static

Checks if the given path path is of an API schema of type PhysicsDriveAPI. If so, it stores the instance name of the schema in name and returns true. Otherwise, it returns false.

static USDPHYSICS_API bool UsdPhysicsDriveAPI::IsSchemaPropertyBaseName ( const TfToken & baseName )

static

Checks if the given name baseName is the base name of a property of PhysicsDriveAPI.

Friends And Related Function Documentation

friend class UsdSchemaRegistry

friend

Definition at line 222 of file driveAPI.h.

Member Data Documentation

const UsdSchemaKind UsdPhysicsDriveAPI::schemaKind = UsdSchemaKind::MultipleApplyAPI

static

Compile time constant representing what kind of schema this class is.

See Also: UsdSchemaKind

Definition at line 76 of file driveAPI.h.

The documentation for this class was generated from the following file:

pxr/usd/usdPhysics/driveAPI.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation