collisionGroup.h

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//
// Copyright 2016 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
// Section 6. Trademarks. is deleted and replaced with:
//
// 6. Trademarks. This License does not grant permission to use the trade
//    names, trademarks, service marks, or product names of the Licensor
//    and its affiliates, except as required to comply with Section 4(c) of
//    the License and to reproduce the content of the NOTICE file.
//
// You may obtain a copy of the Apache License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the Apache License with the above modification is
// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
// KIND, either express or implied. See the Apache License for the specific
// language governing permissions and limitations under the Apache License.
//
#ifndef USDPHYSICS_GENERATED_COLLISIONGROUP_H
#define USDPHYSICS_GENERATED_COLLISIONGROUP_H


#include "pxr/pxr.h"
#include "pxr/usd/usdPhysics/api.h"
#include "pxr/usd/usd/typed.h"
#include "pxr/usd/usd/prim.h"
#include "pxr/usd/usd/stage.h"
#include "pxr/usd/usdPhysics/tokens.h"

#include "pxr/usd/usd/collectionAPI.h" 

#include "pxr/base/vt/value.h"

#include "pxr/base/gf/vec3d.h"
#include "pxr/base/gf/vec3f.h"
#include "pxr/base/gf/matrix4d.h"

#include "pxr/base/tf/token.h"
#include "pxr/base/tf/type.h"

PXR_NAMESPACE_OPEN_SCOPE

class SdfAssetPath;

// -------------------------------------------------------------------------- //
// PHYSICSCOLLISIONGROUP                                                      //
// -------------------------------------------------------------------------- //

class UsdPhysicsCollisionGroup : public UsdTyped
{
public:
    static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;

    explicit UsdPhysicsCollisionGroup(const UsdPrim& prim=UsdPrim())
        : UsdTyped(prim)
    {
    }

    explicit UsdPhysicsCollisionGroup(const UsdSchemaBase& schemaObj)
        : UsdTyped(schemaObj)
    {
    }

    USDPHYSICS_API
    virtual ~UsdPhysicsCollisionGroup();

    USDPHYSICS_API
    static const TfTokenVector &
    GetSchemaAttributeNames(bool includeInherited=true);

    USDPHYSICS_API
    static UsdPhysicsCollisionGroup
    Get(const UsdStagePtr &stage, const SdfPath &path);

    USDPHYSICS_API
    static UsdPhysicsCollisionGroup
    Define(const UsdStagePtr &stage, const SdfPath &path);

protected:
    USDPHYSICS_API
    UsdSchemaKind _GetSchemaKind() const override;

private:
    // needs to invoke _GetStaticTfType.
    friend class UsdSchemaRegistry;
    USDPHYSICS_API
    static const TfType &_GetStaticTfType();

    static bool _IsTypedSchema();

    // override SchemaBase virtuals.
    USDPHYSICS_API
    const TfType &_GetTfType() const override;

public:
    // --------------------------------------------------------------------- //
    // MERGEGROUPNAME 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetMergeGroupNameAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateMergeGroupNameAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // INVERTFILTEREDGROUPS 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetInvertFilteredGroupsAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateInvertFilteredGroupsAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // FILTEREDGROUPS 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdRelationship GetFilteredGroupsRel() const;

    USDPHYSICS_API
    UsdRelationship CreateFilteredGroupsRel() const;

public:
    // ===================================================================== //
    // Feel free to add custom code below this line, it will be preserved by 
    // the code generator. 
    //
    // Just remember to: 
    //  - Close the class declaration with }; 
    //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
    //  - Close the include guard with #endif
    // ===================================================================== //
    // --(BEGIN CUSTOM CODE)--

    USDPHYSICS_API
    UsdCollectionAPI GetCollidersCollectionAPI() const;    

    struct CollisionGroupTable
    {
        USDPHYSICS_API
        const SdfPathVector& GetCollisionGroups() const;

        USDPHYSICS_API
        bool IsCollisionEnabled(const unsigned int idxA, 
                const unsigned int idxB) const;

        USDPHYSICS_API
        bool IsCollisionEnabled(const SdfPath& primA, 
                const SdfPath& primB) const;

    protected:
        friend class UsdPhysicsCollisionGroup;
        // < All collision groups known to this table
        SdfPathVector _groups; 
        // < 2D table, with one element per collision-group-pair. Entry is false 
        // if collision is disabled by a filtering rule.
        std::vector<bool> _enabled; 
    };

    static USDPHYSICS_API
    CollisionGroupTable ComputeCollisionGroupTable(const UsdStage& stage);
};

PXR_NAMESPACE_CLOSE_SCOPE

#endif