UsdPhysicsRigidBodyAPI Class Reference

#include <rigidBodyAPI.h>

Inheritance diagram for UsdPhysicsRigidBodyAPI:

Classes
struct	MassInformation
	Mass information for a collision, used in ComputeMassProperties MassInformationFn callback. More...

Public Types
typedef MassInformation	MassInformationFnSig (const UsdPrim &)
	Mass information function signature, for given UsdPrim gather MassInformation. More...
typedef std::function < MassInformationFnSig >	MassInformationFn

Public Member Functions
	UsdPhysicsRigidBodyAPI (const UsdPrim &prim=UsdPrim())
	UsdPhysicsRigidBodyAPI (const UsdSchemaBase &schemaObj)
virtual USDPHYSICS_API	~UsdPhysicsRigidBodyAPI ()
	Destructor. More...
USDPHYSICS_API UsdAttribute	GetRigidBodyEnabledAttr () const
USDPHYSICS_API UsdAttribute	CreateRigidBodyEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetKinematicEnabledAttr () const
USDPHYSICS_API UsdAttribute	CreateKinematicEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetStartsAsleepAttr () const
USDPHYSICS_API UsdAttribute	CreateStartsAsleepAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetVelocityAttr () const
USDPHYSICS_API UsdAttribute	CreateVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdAttribute	GetAngularVelocityAttr () const
USDPHYSICS_API UsdAttribute	CreateAngularVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
USDPHYSICS_API UsdRelationship	GetSimulationOwnerRel () const
USDPHYSICS_API UsdRelationship	CreateSimulationOwnerRel () const
USDPHYSICS_API float	ComputeMassProperties (GfVec3f *diagonalInertia, GfVec3f *com, GfQuatf *principalAxes, const MassInformationFn &massInfoFn) 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 UsdPhysicsRigidBodyAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
static USDPHYSICS_API bool	CanApply (const UsdPrim &prim, std::string *whyNot=nullptr)
static USDPHYSICS_API UsdPhysicsRigidBodyAPI	Apply (const UsdPrim &prim)
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::SingleApplyAPI
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

Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation. If a simulation is running it will update this prim's pose. All prims in the hierarchy below this prim should move accordingly.

Definition at line 63 of file rigidBodyAPI.h.

Member Typedef Documentation

typedef std::function<MassInformationFnSig> UsdPhysicsRigidBodyAPI::MassInformationFn

Definition at line 328 of file rigidBodyAPI.h.

typedef MassInformation UsdPhysicsRigidBodyAPI::MassInformationFnSig(const UsdPrim &)

Mass information function signature, for given UsdPrim gather MassInformation.

Definition at line 327 of file rigidBodyAPI.h.

Constructor & Destructor Documentation

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

inlineexplicit

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

Definition at line 75 of file rigidBodyAPI.h.

UsdPhysicsRigidBodyAPI::UsdPhysicsRigidBodyAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

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

Definition at line 83 of file rigidBodyAPI.h.

virtual USDPHYSICS_API UsdPhysicsRigidBodyAPI::~UsdPhysicsRigidBodyAPI ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaKind UsdPhysicsRigidBodyAPI::_GetSchemaKind ( ) const

overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See Also

UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

static USDPHYSICS_API UsdPhysicsRigidBodyAPI UsdPhysicsRigidBodyAPI::Apply ( const UsdPrim &  prim )

static

Applies this single-apply API schema to the given prim. This information is stored by adding "PhysicsRigidBodyAPI" to the token-valued, listOp metadata apiSchemas on the prim.

Returns

A valid UsdPhysicsRigidBodyAPI object is returned upon success. An invalid (or empty) UsdPhysicsRigidBodyAPI 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 UsdPhysicsRigidBodyAPI::CanApply ( const UsdPrim &  prim, std::string *  whyNot = nullptr  )

static

Returns true if this single-apply API schema can be applied to the given prim. If this schema can not be a applied to 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 float UsdPhysicsRigidBodyAPI::ComputeMassProperties	(	GfVec3f *	diagonalInertia,
		GfVec3f *	com,
		GfQuatf *	principalAxes,
		const MassInformationFn &	massInfoFn
	)		const

Compute mass properties of the rigid body diagonalInertia Computed diagonal of the inertial tensor for the rigid body. com Computed center of mass for the rigid body. principalAxes Inertia tensor's principal axes orienttion for the rigid body. massInfoFn Callback function to get collision mass information.

Returns

Computed mass of the rigid body

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::CreateAngularVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetAngularVelocityAttr(), 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 UsdPhysicsRigidBodyAPI::CreateKinematicEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetKinematicEnabledAttr(), 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 UsdPhysicsRigidBodyAPI::CreateRigidBodyEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetRigidBodyEnabledAttr(), 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 UsdRelationship UsdPhysicsRigidBodyAPI::CreateSimulationOwnerRel

(

)

const

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

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::CreateStartsAsleepAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetStartsAsleepAttr(), 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 UsdPhysicsRigidBodyAPI::CreateVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetVelocityAttr(), 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 UsdPhysicsRigidBodyAPI UsdPhysicsRigidBodyAPI::Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a UsdPhysicsRigidBodyAPI 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:

UsdPhysicsRigidBodyAPI(stage->GetPrimAtPath(path));

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetAngularVelocityAttr

(

)

const

Angular velocity in the same space as the node's xform. Units: degrees/second.

Declaration	vector3f physics:angularVelocity = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Vector3f

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetKinematicEnabledAttr

(

)

const

Determines whether the body is kinematic or not. A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation derives velocities for the kinematic body based on the external motion. When a continuous motion is not desired, this kinematic flag should be set to false.

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

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetRigidBodyEnabledAttr

(

)

const

Determines if this PhysicsRigidBodyAPI is enabled.

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

static USDPHYSICS_API const TfTokenVector& UsdPhysicsRigidBodyAPI::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.

USDPHYSICS_API UsdRelationship UsdPhysicsRigidBodyAPI::GetSimulationOwnerRel

(

)

const

Single PhysicsScene that will simulate this body. By default this is the first PhysicsScene found in the stage using UsdStage::Traverse().

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetStartsAsleepAttr

(

)

const

Determines if the body is asleep when the simulation starts.

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

USDPHYSICS_API UsdAttribute UsdPhysicsRigidBodyAPI::GetVelocityAttr

(

)

const

Linear velocity in the same space as the node's xform. Units: distance/second.

Declaration	vector3f physics:velocity = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Vector3f

Friends And Related Function Documentation

friend class UsdSchemaRegistry

friend

Definition at line 161 of file rigidBodyAPI.h.

Member Data Documentation

const UsdSchemaKind UsdPhysicsRigidBodyAPI::schemaKind = UsdSchemaKind::SingleApplyAPI

static

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

See Also

UsdSchemaKind

Definition at line 69 of file rigidBodyAPI.h.

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

• pxr/usd/usdPhysics/rigidBodyAPI.h