UsdPhysicsJoint Class Reference

#include <joint.h>

Inheritance diagram for UsdPhysicsJoint:

Public Member Functions
	UsdPhysicsJoint (const UsdPrim &prim=UsdPrim())
	UsdPhysicsJoint (const UsdSchemaBase &schemaObj)
virtual USDPHYSICS_API	~UsdPhysicsJoint ()
	Destructor. More...
USDPHYSICS_API UsdAttribute	GetLocalPos0Attr () const
USDPHYSICS_API UsdAttribute	CreateLocalPos0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetLocalRot0Attr () const
USDPHYSICS_API UsdAttribute	CreateLocalRot0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetLocalPos1Attr () const
USDPHYSICS_API UsdAttribute	CreateLocalPos1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetLocalRot1Attr () const
USDPHYSICS_API UsdAttribute	CreateLocalRot1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetJointEnabledAttr () const
USDPHYSICS_API UsdAttribute	CreateJointEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetCollisionEnabledAttr () const
USDPHYSICS_API UsdAttribute	CreateCollisionEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetExcludeFromArticulationAttr () const
USDPHYSICS_API UsdAttribute	CreateExcludeFromArticulationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetBreakForceAttr () const
USDPHYSICS_API UsdAttribute	CreateBreakForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetBreakTorqueAttr () const
USDPHYSICS_API UsdAttribute	CreateBreakTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdRelationship	GetBody0Rel () const
USDPHYSICS_API UsdRelationship	CreateBody0Rel () const
USDPHYSICS_API UsdRelationship	GetBody1Rel () const
USDPHYSICS_API UsdRelationship	CreateBody1Rel () const
Public Member Functions inherited from UsdGeomImageable
	UsdGeomImageable (const UsdPrim &prim=UsdPrim())
	UsdGeomImageable (const UsdSchemaBase &schemaObj)
virtual USDGEOM_API	~UsdGeomImageable ()
	Destructor. More...
USDGEOM_API UsdAttribute	GetVisibilityAttr () const
USDGEOM_API UsdAttribute	CreateVisibilityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDGEOM_API UsdAttribute	GetPurposeAttr () const
USDGEOM_API UsdAttribute	CreatePurposeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDGEOM_API UsdRelationship	GetProxyPrimRel () const
USDGEOM_API UsdRelationship	CreateProxyPrimRel () const
USDGEOM_API void	MakeVisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
USDGEOM_API void	MakeInvisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
USDGEOM_API TfToken	ComputeVisibility (UsdTimeCode const &time=UsdTimeCode::Default()) const
USDGEOM_API UsdAttribute	GetPurposeVisibilityAttr (const TfToken &purpose=UsdGeomTokens->default_) const
USDGEOM_API TfToken	ComputeEffectiveVisibility (const TfToken &purpose=UsdGeomTokens->default_, const UsdTimeCode &time=UsdTimeCode::Default()) const
USDGEOM_API PurposeInfo	ComputePurposeInfo () const
USDGEOM_API PurposeInfo	ComputePurposeInfo (const PurposeInfo &parentPurposeInfo) const
USDGEOM_API TfToken	ComputePurpose () const
USDGEOM_API UsdPrim	ComputeProxyPrim (UsdPrim *renderPrim=NULL) const
USDGEOM_API bool	SetProxyPrim (const UsdPrim &proxy) const
USDGEOM_API bool	SetProxyPrim (const UsdSchemaBase &proxy) const
USDGEOM_API GfBBox3d	ComputeWorldBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
USDGEOM_API GfBBox3d	ComputeLocalBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
USDGEOM_API GfBBox3d	ComputeUntransformedBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
USDGEOM_API GfMatrix4d	ComputeLocalToWorldTransform (UsdTimeCode const &time) const
USDGEOM_API GfMatrix4d	ComputeParentToWorldTransform (UsdTimeCode const &time) const
Public Member Functions inherited from UsdTyped
	UsdTyped (const UsdPrim &prim=UsdPrim())
	UsdTyped (const UsdSchemaBase &schemaObj)
virtual USD_API	~UsdTyped ()
	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 UsdPhysicsJoint	Get (const UsdStagePtr &stage, const SdfPath &path)
static USDPHYSICS_API UsdPhysicsJoint	Define (const UsdStagePtr &stage, const SdfPath &path)
Static Public Member Functions inherited from UsdGeomImageable
static USDGEOM_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)
static USDGEOM_API UsdGeomImageable	Get (const UsdStagePtr &stage, const SdfPath &path)
static USDGEOM_API const TfTokenVector &	GetOrderedPurposeTokens ()
Static Public Member Functions inherited from UsdTyped
static USD_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)
static USD_API UsdTyped	Get (const UsdStagePtr &stage, const SdfPath &path)
Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::ConcreteTyped
Static Public Attributes inherited from UsdGeomImageable
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractTyped
Static Public Attributes inherited from UsdTyped
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 UsdTyped
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

Detailed Description

A joint constrains the movement of rigid bodies. Joint can be created between two rigid bodies or between one rigid body and world. By default joint primitive defines a D6 joint where all degrees of freedom are free. Three linear and three angular degrees of freedom. Note that default behavior is to disable collision between jointed bodies.

Definition at line 62 of file joint.h.

Constructor & Destructor Documentation

UsdPhysicsJoint::UsdPhysicsJoint ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a UsdPhysicsJoint on UsdPrim prim . Equivalent to UsdPhysicsJoint::Get(prim.GetStage(), prim.GetPath()) for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 74 of file joint.h.

UsdPhysicsJoint::UsdPhysicsJoint ( const UsdSchemaBase &  schemaObj )

inlineexplicit

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

Definition at line 82 of file joint.h.

virtual USDPHYSICS_API UsdPhysicsJoint::~UsdPhysicsJoint ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsJoint::_GetSchemaKind ( ) const

overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also

UsdSchemaKind

Reimplemented from UsdGeomImageable.

Reimplemented in UsdPhysicsSphericalJoint, UsdPhysicsPrismaticJoint, and UsdPhysicsRevoluteJoint.

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::CreateBody0Rel

(

)

const

See GetBody0Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::CreateBody1Rel

(

)

const

See GetBody1Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::CreateBreakForceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetBreakForceAttr(), 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 UsdPhysicsJoint::CreateBreakTorqueAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetBreakTorqueAttr(), 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 UsdPhysicsJoint::CreateCollisionEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetCollisionEnabledAttr(), 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 UsdPhysicsJoint::CreateExcludeFromArticulationAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetExcludeFromArticulationAttr(), 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 UsdPhysicsJoint::CreateJointEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetJointEnabledAttr(), 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 UsdPhysicsJoint::CreateLocalPos0Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalPos0Attr(), 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 UsdPhysicsJoint::CreateLocalPos1Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalPos1Attr(), 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 UsdPhysicsJoint::CreateLocalRot0Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalRot0Attr(), 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 UsdPhysicsJoint::CreateLocalRot1Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalRot1Attr(), 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 UsdPhysicsJoint UsdPhysicsJoint::Define ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.

If a prim adhering to this schema at path is already defined on this stage, return that prim. Otherwise author an SdfPrimSpec with specifier == SdfSpecifierDef and this schema's prim type name for the prim at path at the current EditTarget. Author SdfPrimSpec s with specifier == SdfSpecifierDef and empty typeName at the current EditTarget for any nonexistent, or existing but not Defined ancestors.

The given path must be an absolute prim path that does not contain any variant selections.

If it is impossible to author any of the necessary PrimSpecs, (for example, in case path cannot map to the current UsdEditTarget's namespace) issue an error and return an invalid UsdPrim.

Note that this method may return a defined prim whose typeName does not specify this schema class, in case a stronger typeName opinion overrides the opinion at the current EditTarget.

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

static

Return a UsdPhysicsJoint 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. This is shorthand for the following:

UsdPhysicsJoint(stage->GetPrimAtPath(path));

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::GetBody0Rel

(

)

const

Relationship to any UsdGeomXformable.

USDPHYSICS_API UsdRelationship UsdPhysicsJoint::GetBody1Rel

(

)

const

Relationship to any UsdGeomXformable.

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetBreakForceAttr

(

)

const

Joint break force. If set, joint is to break when this force limit is reached. (Used for linear DOFs.) Units: mass * distance / second / second

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

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetBreakTorqueAttr

(

)

const

Joint break torque. If set, joint is to break when this torque limit is reached. (Used for angular DOFs.) Units: mass * distance * distance / second / second

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

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetCollisionEnabledAttr

(

)

const

Determines if the jointed subtrees should collide or not.

Declaration	bool physics:collisionEnabled = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetExcludeFromArticulationAttr

(

)

const

Determines if the joint can be included in an Articulation.

Declaration	uniform bool physics:excludeFromArticulation = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool
Variability	SdfVariabilityUniform

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetJointEnabledAttr

(

)

const

Determines if the joint is enabled.

Declaration	bool physics:jointEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalPos0Attr

(

)

const

Relative position of the joint frame to body0's frame.

Declaration	point3f physics:localPos0 = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalPos1Attr

(

)

const

Relative position of the joint frame to body1's frame.

Declaration	point3f physics:localPos1 = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalRot0Attr

(

)

const

Relative orientation of the joint frame to body0's frame.

Declaration	quatf physics:localRot0 = (1, 0, 0, 0)
C++ Type	GfQuatf
Usd Type	SdfValueTypeNames->Quatf

USDPHYSICS_API UsdAttribute UsdPhysicsJoint::GetLocalRot1Attr

(

)

const

Relative orientation of the joint frame to body1's frame.

Declaration	quatf physics:localRot1 = (1, 0, 0, 0)
C++ Type	GfQuatf
Usd Type	SdfValueTypeNames->Quatf

static USDPHYSICS_API const TfTokenVector& UsdPhysicsJoint::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.

Friends And Related Function Documentation

friend class UsdSchemaRegistry

friend

Definition at line 146 of file joint.h.

Member Data Documentation

const UsdSchemaKind UsdPhysicsJoint::schemaKind = UsdSchemaKind::ConcreteTyped

static

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

See Also

UsdSchemaKind

Definition at line 68 of file joint.h.

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

• pxr/usd/usdPhysics/joint.h