|
The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target. More...
#include <driveAPI.h>
Public Member Functions | |
UsdPhysicsDriveAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken()) | |
Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name . | |
UsdPhysicsDriveAPI (const UsdSchemaBase &schemaObj, const TfToken &name) | |
Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name . | |
virtual USDPHYSICS_API | ~UsdPhysicsDriveAPI () |
Destructor. | |
TfToken | GetName () const |
Returns the name of this multiple-apply schema instance. | |
USDPHYSICS_API UsdAttribute | GetTypeAttr () const |
Drive spring is for the acceleration at the joint (rather than the force). | |
USDPHYSICS_API UsdAttribute | CreateTypeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetTypeAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetMaxForceAttr () const |
Maximum force that can be applied to drive. | |
USDPHYSICS_API UsdAttribute | CreateMaxForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetMaxForceAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetTargetPositionAttr () const |
Target value for position. | |
USDPHYSICS_API UsdAttribute | CreateTargetPositionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetTargetPositionAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetTargetVelocityAttr () const |
Target value for velocity. | |
USDPHYSICS_API UsdAttribute | CreateTargetVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetTargetVelocityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetDampingAttr () const |
Damping of the drive. | |
USDPHYSICS_API UsdAttribute | CreateDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetDampingAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetStiffnessAttr () const |
Stiffness of the drive. | |
USDPHYSICS_API UsdAttribute | CreateStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetStiffnessAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
Public Member Functions inherited from UsdAPISchemaBase | |
UsdAPISchemaBase (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdAPISchemaBase on UsdPrim prim . | |
UsdAPISchemaBase (const UsdSchemaBase &schemaObj) | |
Construct a UsdAPISchemaBase on the prim held by schemaObj . | |
virtual USD_API | ~UsdAPISchemaBase ()=0 |
Destructor. | |
Public Member Functions inherited from UsdSchemaBase | |
bool | IsConcrete () const |
Returns whether or not this class corresponds to a concrete instantiable prim type in scene description. | |
bool | IsTyped () const |
Returns whether or not this class inherits from UsdTyped. | |
bool | IsAPISchema () const |
Returns whether this is an API schema or not. | |
bool | IsAppliedAPISchema () const |
Returns whether this is an applied API schema or not. | |
bool | IsMultipleApplyAPISchema () const |
Returns whether this is an applied API schema or not. | |
UsdSchemaKind | GetSchemaKind () const |
Returns the kind of schema this class is. | |
USD_API | UsdSchemaBase (const UsdPrim &prim=UsdPrim()) |
Construct and store prim as the held prim. | |
USD_API | UsdSchemaBase (const UsdSchemaBase &otherSchema) |
Construct and store for the same prim held by otherSchema . | |
virtual USD_API | ~UsdSchemaBase () |
Destructor. | |
UsdPrim | GetPrim () const |
Return this schema object's held prim. | |
SdfPath | GetPath () const |
Shorthand for GetPrim()->GetPath(). | |
USD_API const UsdPrimDefinition * | GetSchemaClassPrimDefinition () const |
Return the prim definition associated with this schema instance if one exists, otherwise return null. | |
USD_API | operator bool () const |
Return true if this schema object is compatible with its held prim, false otherwise. | |
Static Public Member Functions | |
static USDPHYSICS_API const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. | |
static USDPHYSICS_API TfTokenVector | GetSchemaAttributeNames (bool includeInherited, const TfToken &instanceName) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. | |
static USDPHYSICS_API UsdPhysicsDriveAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsDriveAPI holding the prim adhering to this schema at path on stage . | |
static USDPHYSICS_API UsdPhysicsDriveAPI | Get (const UsdPrim &prim, const TfToken &name) |
Return a UsdPhysicsDriveAPI with name name holding the prim prim . | |
static USDPHYSICS_API std::vector< UsdPhysicsDriveAPI > | GetAll (const UsdPrim &prim) |
Return a vector of all named instances of UsdPhysicsDriveAPI on the given prim . | |
static USDPHYSICS_API bool | IsSchemaPropertyBaseName (const TfToken &baseName) |
Checks if the given name baseName is the base name of a property of PhysicsDriveAPI. | |
static USDPHYSICS_API bool | IsPhysicsDriveAPIPath (const SdfPath &path, TfToken *name) |
Checks if the given path path is of an API schema of type PhysicsDriveAPI. | |
static USDPHYSICS_API bool | CanApply (const UsdPrim &prim, const TfToken &name, std::string *whyNot=nullptr) |
Returns true if this multiple-apply API schema can be applied, with the given instance name, name , to the given prim . | |
static USDPHYSICS_API UsdPhysicsDriveAPI | Apply (const UsdPrim &prim, const TfToken &name) |
Applies this multiple-apply API schema to the given prim along with the given instance name, name . | |
Static Public Member Functions inherited from UsdAPISchemaBase | |
static USD_API const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. | |
Static Public Member Functions inherited from UsdSchemaBase | |
static const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true) |
Static Public Attributes | |
static const UsdSchemaKind | schemaKind = UsdSchemaKind::MultipleApplyAPI |
Compile time constant representing what kind of schema this class is. | |
Static Public Attributes inherited from UsdAPISchemaBase | |
static const UsdSchemaKind | schemaKind = UsdSchemaKind::AbstractBase |
Compile time constant representing what kind of schema this class is. | |
Static Public Attributes inherited from UsdSchemaBase | |
static const UsdSchemaKind | schemaKind = UsdSchemaKind::AbstractBase |
Compile time constant representing what kind of schema this class is. | |
Protected Member Functions | |
USDPHYSICS_API UsdSchemaKind | _GetSchemaKind () const override |
Returns the kind of schema this class belongs to. | |
Protected Member Functions inherited from UsdAPISchemaBase | |
USD_API UsdSchemaKind | _GetSchemaKind () const override |
Returns the kind of schema this class belongs to. | |
UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName) | |
Construct a multiple-apply UsdAPISchemaBase on UsdPrim prim with the specified instanceName . | |
UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName) | |
Construct a multiple-apply UsdAPISchemaBase on the prim held by schemaObj with the given instanceName . | |
const TfToken & | _GetInstanceName () const |
Returns the instance name of the API schema object belonging to a multiple-apply API schema. | |
USD_API bool | _IsCompatible () const override |
Check whether this APISchema object is valid for the currently held prim. | |
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) |
Returns a vector of names of API schema objects belonging to a multiple-apply API schema applied to a given prim. | |
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)
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 53 of file driveAPI.h.
|
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 70 of file driveAPI.h.
|
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 79 of file driveAPI.h.
|
virtual |
Destructor.
|
overrideprotectedvirtual |
Returns the kind of schema this class belongs to.
Reimplemented from UsdAPISchemaBase.
|
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'.
|
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.
USDPHYSICS_API UsdAttribute CreateDampingAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetDampingAttr(), and also Create vs Get Property Methods 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 CreateMaxForceAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetMaxForceAttr(), and also Create vs Get Property Methods 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 CreateStiffnessAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetStiffnessAttr(), and also Create vs Get Property Methods 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 CreateTargetPositionAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetTargetPositionAttr(), and also Create vs Get Property Methods 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 CreateTargetVelocityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetTargetVelocityAttr(), and also Create vs Get Property Methods 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 CreateTypeAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetTypeAttr(), and also Create vs Get Property Methods 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 |
Return a UsdPhysicsDriveAPI with name name
holding the prim prim
.
Shorthand for UsdPhysicsDriveAPI(prim, name);
|
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:
|
static |
Return a vector of all named instances of UsdPhysicsDriveAPI on the given prim
.
USDPHYSICS_API UsdAttribute 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 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 |
|
inline |
Returns the name of this multiple-apply schema instance.
Definition at line 105 of file driveAPI.h.
|
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.
|
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 UsdAttribute 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 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 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 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 |
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 |
Checks if the given name baseName
is the base name of a property of PhysicsDriveAPI.
|
friend |
Definition at line 205 of file driveAPI.h.
|
static |
Compile time constant representing what kind of schema this class is.
Definition at line 59 of file driveAPI.h.