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Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation. More...
#include <rigidBodyAPI.h>
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. | |
typedef std::function< MassInformationFnSig > | MassInformationFn |
Public Member Functions | |
UsdPhysicsRigidBodyAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim . | |
UsdPhysicsRigidBodyAPI (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj . | |
virtual USDPHYSICS_API | ~UsdPhysicsRigidBodyAPI () |
Destructor. | |
USDPHYSICS_API UsdAttribute | GetRigidBodyEnabledAttr () const |
Determines if this PhysicsRigidBodyAPI is enabled. | |
USDPHYSICS_API UsdAttribute | CreateRigidBodyEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetRigidBodyEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetKinematicEnabledAttr () const |
Determines whether the body is kinematic or not. | |
USDPHYSICS_API UsdAttribute | CreateKinematicEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetKinematicEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetStartsAsleepAttr () const |
Determines if the body is asleep when the simulation starts. | |
USDPHYSICS_API UsdAttribute | CreateStartsAsleepAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetStartsAsleepAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetVelocityAttr () const |
Linear velocity in the same space as the node's xform. | |
USDPHYSICS_API UsdAttribute | CreateVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetVelocityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdAttribute | GetAngularVelocityAttr () const |
Angular velocity in the same space as the node's xform. | |
USDPHYSICS_API UsdAttribute | CreateAngularVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetAngularVelocityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API UsdRelationship | GetSimulationOwnerRel () const |
Single PhysicsScene that will simulate this body. | |
USDPHYSICS_API UsdRelationship | CreateSimulationOwnerRel () const |
See GetSimulationOwnerRel(), and also Create vs Get Property Methods for when to use Get vs Create. | |
USDPHYSICS_API float | 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. | |
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 UsdPhysicsRigidBodyAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsRigidBodyAPI 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 UsdPhysicsRigidBodyAPI | 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. | |
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 46 of file rigidBodyAPI.h.
struct UsdPhysicsRigidBodyAPI::MassInformation |
Mass information for a collision, used in ComputeMassProperties MassInformationFn callback.
Definition at line 300 of file rigidBodyAPI.h.
Class Members | ||
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GfVec3f | centerOfMass | |
GfMatrix3f | inertia | |
GfVec3f | localPos | |
GfQuatf | localRot | |
float | volume |
typedef std::function<MassInformationFnSig> MassInformationFn |
Definition at line 311 of file rigidBodyAPI.h.
typedef MassInformation MassInformationFnSig(const UsdPrim &) |
Mass information function signature, for given UsdPrim gather MassInformation.
Definition at line 310 of file rigidBodyAPI.h.
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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 58 of file rigidBodyAPI.h.
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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 66 of file rigidBodyAPI.h.
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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 "PhysicsRigidBodyAPI" 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 float 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.
USDPHYSICS_API UsdAttribute CreateAngularVelocityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetAngularVelocityAttr(), 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 CreateKinematicEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetKinematicEnabledAttr(), 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 CreateRigidBodyEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetRigidBodyEnabledAttr(), 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 UsdRelationship CreateSimulationOwnerRel | ( | ) | const |
See GetSimulationOwnerRel(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute CreateStartsAsleepAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetStartsAsleepAttr(), 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 CreateVelocityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetVelocityAttr(), 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 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:
USDPHYSICS_API UsdAttribute GetAngularVelocityAttr | ( | ) | const |
USDPHYSICS_API UsdAttribute 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 GetRigidBodyEnabledAttr | ( | ) | const |
Determines if this PhysicsRigidBodyAPI is enabled.
Declaration | bool physics:rigidBodyEnabled = 1 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
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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.
USDPHYSICS_API UsdRelationship 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 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 GetVelocityAttr | ( | ) | const |
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friend |
Definition at line 144 of file rigidBodyAPI.h.
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static |
Compile time constant representing what kind of schema this class is.
Definition at line 52 of file rigidBodyAPI.h.