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Defines explicit mass properties (mass, density, inertia etc.). More...
#include <massAPI.h>
Public Member Functions | |
UsdPhysicsMassAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsMassAPI on UsdPrim prim . | |
UsdPhysicsMassAPI (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsMassAPI on the prim held by schemaObj . | |
virtual USDPHYSICS_API | ~UsdPhysicsMassAPI () |
Destructor. | |
USDPHYSICS_API UsdAttribute | GetMassAttr () const |
If non-zero, directly specifies the mass of the object. | |
USDPHYSICS_API UsdAttribute | CreateMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetMassAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetDensityAttr () const |
If non-zero, specifies the density of the object. | |
USDPHYSICS_API UsdAttribute | CreateDensityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetDensityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetCenterOfMassAttr () const |
Center of mass in the prim's local space. | |
USDPHYSICS_API UsdAttribute | CreateCenterOfMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetCenterOfMassAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetDiagonalInertiaAttr () const |
If non-zero, specifies diagonalized inertia tensor along the principal axes. | |
USDPHYSICS_API UsdAttribute | CreateDiagonalInertiaAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetDiagonalInertiaAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetPrincipalAxesAttr () const |
Orientation of the inertia tensor's principal axes in the prim's local space. | |
USDPHYSICS_API UsdAttribute | CreatePrincipalAxesAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetPrincipalAxesAttr(), 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 UsdPhysicsMassAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsMassAPI holding the prim adhering to this schema at path on stage . | |
static USDPHYSICS_API bool | CanApply (const UsdPrim &prim, std::string *whyNot=nullptr) |
Returns true if this single-apply API schema can be applied to the given prim . | |
static USDPHYSICS_API UsdPhysicsMassAPI | Apply (const UsdPrim &prim) |
Applies this single-apply API schema to the given prim . | |
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::SingleApplyAPI |
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. | |
Defines explicit mass properties (mass, density, inertia etc.).
MassAPI can be applied to any object that has a PhysicsCollisionAPI or a PhysicsRigidBodyAPI.
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inlineexplicit |
Construct a UsdPhysicsMassAPI on UsdPrim prim
.
Equivalent to UsdPhysicsMassAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim
, but will not immediately throw an error for an invalid prim
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inlineexplicit |
Construct a UsdPhysicsMassAPI on the prim held by schemaObj
.
Should be preferred over UsdPhysicsMassAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.
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virtual |
Destructor.
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overrideprotectedvirtual |
Returns the kind of schema this class belongs to.
Reimplemented from UsdAPISchemaBase.
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static |
Applies this single-apply API schema to the given prim
.
This information is stored by adding "PhysicsMassAPI" to the token-valued, listOp metadata apiSchemas on the prim.
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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.
USDPHYSICS_API UsdAttribute CreateCenterOfMassAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetCenterOfMassAttr(), 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 CreateDensityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetDensityAttr(), 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 CreateDiagonalInertiaAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetDiagonalInertiaAttr(), 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 CreateMassAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetMassAttr(), 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 CreatePrincipalAxesAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetPrincipalAxesAttr(), 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
.
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static |
Return a UsdPhysicsMassAPI 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:
USDPHYSICS_API UsdAttribute GetCenterOfMassAttr | ( | ) | const |
USDPHYSICS_API UsdAttribute GetDensityAttr | ( | ) | const |
If non-zero, specifies the density of the object.
In the context of rigid body physics, density indirectly results in setting mass via (mass = density x volume of the object). How the volume is computed is up to implementation of the physics system. It is generally computed from the collision approximation rather than the graphical mesh. In the case where both density and mass are specified for the same object, mass has precedence over density. Unlike mass, child's prim's density overrides parent prim's density as it is accumulative. Note that density of a collisionAPI can be also alternatively set through a PhysicsMaterialAPI. The material density has the weakest precedence in density definition. Note if density is 0.0 it is ignored. Units: mass/distance/distance/distance.
Declaration | float physics:density = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
USDPHYSICS_API UsdAttribute GetDiagonalInertiaAttr | ( | ) | const |
USDPHYSICS_API UsdAttribute GetMassAttr | ( | ) | const |
If non-zero, directly specifies the mass of the object.
Note that any child prim can also have a mass when they apply massAPI. In this case, the precedence rule is 'parent mass overrides the child's'. This may come as counter-intuitive, but mass is a computed quantity and in general not accumulative. For example, if a parent has mass of 10, and one of two children has mass of 20, allowing child's mass to override its parent results in a mass of -10 for the other child. Note if mass is 0.0 it is ignored. Units: mass.
Declaration | float physics:mass = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
USDPHYSICS_API UsdAttribute GetPrincipalAxesAttr | ( | ) | const |
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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.
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friend |
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static |
Compile time constant representing what kind of schema this class is.