7#ifndef USDPHYSICS_GENERATED_RIGIDBODYAPI_H
8#define USDPHYSICS_GENERATED_RIGIDBODYAPI_H
13#include "pxr/usd/usdPhysics/api.h"
22#include "pxr/base/vt/value.h"
29#include "pxr/base/tf/type.h"
31PXR_NAMESPACE_OPEN_SCOPE
146 static const TfType &_GetStaticTfType();
148 static bool _IsTypedSchema();
152 const TfType &_GetTfType()
const override;
311 typedef std::function<MassInformationFnSig> MassInformationFn;
321 const MassInformationFn& massInfoFn)
const;
325PXR_NAMESPACE_CLOSE_SCOPE
Stores a 3x3 matrix of float elements.
Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients,...
Basic type for a vector of 3 float components.
Contains an asset path and an optional resolved path.
A path value used to locate objects in layers or scenegraphs.
TfType represents a dynamic runtime type.
The base class for all API schemas.
Scenegraph object for authoring and retrieving numeric, string, and array valued data,...
Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a si...
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.
USDPHYSICS_API UsdAttribute GetRigidBodyEnabledAttr() const
Determines if this PhysicsRigidBodyAPI is enabled.
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.
MassInformation MassInformationFnSig(const UsdPrim &)
Mass information function signature, for given UsdPrim gather MassInformation.
static const UsdSchemaKind schemaKind
Compile time constant representing what kind of schema this class is.
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 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 fo...
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 UsdRelationship GetSimulationOwnerRel() const
Single PhysicsScene that will simulate this body.
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 GetStartsAsleepAttr() const
Determines if the body is asleep when the simulation starts.
virtual USDPHYSICS_API ~UsdPhysicsRigidBodyAPI()
Destructor.
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.
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 GetAngularVelocityAttr() const
Angular velocity in the same space as the node's xform.
static USDPHYSICS_API UsdPhysicsRigidBodyAPI Apply(const UsdPrim &prim)
Applies this single-apply API schema to the given prim.
USDPHYSICS_API UsdAttribute GetKinematicEnabledAttr() const
Determines whether the body is kinematic or not.
UsdPhysicsRigidBodyAPI(const UsdPrim &prim=UsdPrim())
Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim .
UsdPhysicsRigidBodyAPI(const UsdSchemaBase &schemaObj)
Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj .
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 cl...
USDPHYSICS_API UsdRelationship CreateSimulationOwnerRel() const
See GetSimulationOwnerRel(), 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 UsdSchemaKind _GetSchemaKind() const override
Returns the kind of schema this class belongs to.
Mass information for a collision, used in ComputeMassProperties MassInformationFn callback.
UsdPrim is the sole persistent scenegraph object on a UsdStage, and is the embodiment of a "Prim" as ...
A UsdRelationship creates dependencies between scenegraph objects by allowing a prim to target other ...
The base class for all schema types in Usd.
Singleton registry that provides access to schema type information and the prim definitions for regis...
Provides a container which may hold any type, and provides introspection and iteration over array typ...
UsdSchemaKind
An enum representing which kind of schema a given schema class belongs to.
TfToken class for efficient string referencing and hashing, plus conversions to and from stl string c...
std::vector< TfToken > TfTokenVector
Convenience types.