Defines a collision group for coarse filtering. More...

#include <collisionGroup.h>

Inheritance diagram for UsdPhysicsCollisionGroup:

Classes
struct	CollisionGroupTable
	Utility structure generated by ComputeCollisionGroupTable(); contains a table describing which pairs of collision groups have collisions enabled/disabled by the filtering rules. More...

Public Member Functions
	UsdPhysicsCollisionGroup (const UsdPrim &prim=UsdPrim())
	Construct a UsdPhysicsCollisionGroup on UsdPrim `prim` .

	UsdPhysicsCollisionGroup (const UsdSchemaBase &schemaObj)
	Construct a UsdPhysicsCollisionGroup on the prim held by `schemaObj` .

virtual USDPHYSICS_API	~UsdPhysicsCollisionGroup ()
	Destructor.

USDPHYSICS_API UsdAttribute	GetMergeGroupNameAttr () const
	If non-empty, any collision groups in a stage with a matching mergeGroup should be considered to refer to the same collection.

USDPHYSICS_API UsdAttribute	CreateMergeGroupNameAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMergeGroupNameAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

USDPHYSICS_API UsdAttribute	GetInvertFilteredGroupsAttr () const
	Normally, the filter will disable collisions against the selected filter groups.

USDPHYSICS_API UsdAttribute	CreateInvertFilteredGroupsAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInvertFilteredGroupsAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

USDPHYSICS_API UsdRelationship	GetFilteredGroupsRel () const
	References a list of PhysicsCollisionGroups with which collisions should be ignored.

USDPHYSICS_API UsdRelationship	CreateFilteredGroupsRel () const
	See GetFilteredGroupsRel(), and also Create vs Get Property Methods for when to use Get vs Create.

USDPHYSICS_API UsdCollectionAPI	GetCollidersCollectionAPI () const
	Return the UsdCollectionAPI interface used for defining what colliders belong to the CollisionGroup.

Public Member Functions inherited from UsdTyped
	UsdTyped (const UsdPrim &prim=UsdPrim())
	Construct a UsdTyped on UsdPrim `prim` .

	UsdTyped (const UsdSchemaBase &schemaObj)
	Construct a UsdTyped on the prim held by `schemaObj` .

virtual USD_API	~UsdTyped ()
	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 UsdPhysicsCollisionGroup	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdPhysicsCollisionGroup holding the prim adhering to this schema at `path` on `stage`.

static USDPHYSICS_API UsdPhysicsCollisionGroup	Define (const UsdStagePtr &stage, const SdfPath &path)
	Attempt to ensure a UsdPrim adhering to this schema at `path` is defined (according to UsdPrim::IsDefined()) on this stage.

static USDPHYSICS_API CollisionGroupTable	ComputeCollisionGroupTable (const UsdStage &stage)
	Compute a table encoding all the collision groups filter rules for a stage.

Static Public Member Functions inherited from UsdTyped
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 USD_API UsdTyped	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdTyped holding the prim adhering to this schema at `path` on `stage`.

Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::ConcreteTyped
	Compile time constant representing what kind of schema this class is.

Static Public Attributes inherited from UsdTyped
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 UsdTyped
USD_API UsdSchemaKind	_GetSchemaKind () const override
	Returns the kind of schema this class belongs to.

USD_API bool	_IsCompatible () const override
	Subclasses may override _IsCompatible to do specific compatibility checking with the given prim, such as type compatibility or value compatibility.

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

Detailed Description

Defines a collision group for coarse filtering.

When a collision occurs between two objects that have a PhysicsCollisionGroup assigned, they will collide with each other unless this PhysicsCollisionGroup pair is filtered. See filteredGroups attribute.

A CollectionAPI:colliders maintains a list of PhysicsCollisionAPI rel-s that defines the members of this Collisiongroup.

Definition at line 49 of file collisionGroup.h.

Constructor & Destructor Documentation

◆ UsdPhysicsCollisionGroup() [1/2]

UsdPhysicsCollisionGroup ( const UsdPrim & prim = UsdPrim() )

inlineexplicit

Construct a UsdPhysicsCollisionGroup on UsdPrim prim .

Equivalent to UsdPhysicsCollisionGroup::Get(prim.GetStage(), prim.GetPath()) for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 61 of file collisionGroup.h.

◆ UsdPhysicsCollisionGroup() [2/2]

UsdPhysicsCollisionGroup ( const UsdSchemaBase & schemaObj )

inlineexplicit

Construct a UsdPhysicsCollisionGroup on the prim held by schemaObj .

Should be preferred over UsdPhysicsCollisionGroup(schemaObj.GetPrim()), as it preserves SchemaBase state.

Definition at line 69 of file collisionGroup.h.

◆ ~UsdPhysicsCollisionGroup()

virtual USDPHYSICS_API ~UsdPhysicsCollisionGroup ( )

virtual

Destructor.

Member Function Documentation

◆ _GetSchemaKind()

USDPHYSICS_API UsdSchemaKind _GetSchemaKind ( ) const

overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See also: UsdSchemaKind

Reimplemented from UsdTyped.

◆ ComputeCollisionGroupTable()

static USDPHYSICS_API CollisionGroupTable ComputeCollisionGroupTable ( const UsdStage & stage )

static

Compute a table encoding all the collision groups filter rules for a stage.

This can be used as a reference to validate an implementation of the collision groups filters. The returned table is diagonally symmetric.

◆ CreateFilteredGroupsRel()

USDPHYSICS_API UsdRelationship CreateFilteredGroupsRel ( ) const

See GetFilteredGroupsRel(), and also Create vs Get Property Methods for when to use Get vs Create.

◆ CreateInvertFilteredGroupsAttr()

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

See GetInvertFilteredGroupsAttr(), 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.

◆ CreateMergeGroupNameAttr()

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

See GetMergeGroupNameAttr(), 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.

◆ Define()

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

static

Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.

If a prim adhering to this schema at path is already defined on this stage, return that prim. Otherwise author an SdfPrimSpec with specifier == SdfSpecifierDef and this schema's prim type name for the prim at path at the current EditTarget. Author SdfPrimSpec s with specifier == SdfSpecifierDef and empty typeName at the current EditTarget for any nonexistent, or existing but not Defined ancestors.

The given path must be an absolute prim path that does not contain any variant selections.

If it is impossible to author any of the necessary PrimSpecs, (for example, in case path cannot map to the current UsdEditTarget's namespace) issue an error and return an invalid UsdPrim.

Note that this method may return a defined prim whose typeName does not specify this schema class, in case a stronger typeName opinion overrides the opinion at the current EditTarget.

◆ Get()

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

static

Return a UsdPhysicsCollisionGroup 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:

UsdPhysicsCollisionGroup(stage->GetPrimAtPath(path));

UsdPhysicsCollisionGroup

Defines a collision group for coarse filtering.

Definition: collisionGroup.h:50

◆ GetCollidersCollectionAPI()

USDPHYSICS_API UsdCollectionAPI GetCollidersCollectionAPI ( ) const

Return the UsdCollectionAPI interface used for defining what colliders belong to the CollisionGroup.

◆ GetFilteredGroupsRel()

USDPHYSICS_API UsdRelationship GetFilteredGroupsRel ( ) const

References a list of PhysicsCollisionGroups with which collisions should be ignored.

◆ GetInvertFilteredGroupsAttr()

USDPHYSICS_API UsdAttribute GetInvertFilteredGroupsAttr ( ) const

Normally, the filter will disable collisions against the selected filter groups.

However, if this option is set, the filter will disable collisions against all colliders except for those in the selected filter groups.


Declaration	`bool physics:invertFilteredGroups`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

◆ GetMergeGroupNameAttr()

USDPHYSICS_API UsdAttribute GetMergeGroupNameAttr ( ) const

If non-empty, any collision groups in a stage with a matching mergeGroup should be considered to refer to the same collection.

Matching collision groups should behave as if there were a single group containing referenced colliders and filter groups from both collections.


Declaration	`string physics:mergeGroup`
C++ Type	std::string
Usd Type	SdfValueTypeNames->String

◆ GetSchemaAttributeNames()

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

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.

Friends And Related Function Documentation

◆ UsdSchemaRegistry

friend class UsdSchemaRegistry

friend

Definition at line 133 of file collisionGroup.h.

Member Data Documentation

◆ schemaKind

const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped

static

Compile time constant representing what kind of schema this class is.

See also: UsdSchemaKind

Definition at line 55 of file collisionGroup.h.

The documentation for this class was generated from the following file:

pxr/usd/usdPhysics/collisionGroup.h

Classes

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UsdPhysicsCollisionGroup() [1/2]

◆ UsdPhysicsCollisionGroup() [2/2]

◆ ~UsdPhysicsCollisionGroup()

Member Function Documentation

◆ _GetSchemaKind()

◆ ComputeCollisionGroupTable()

◆ CreateFilteredGroupsRel()

◆ CreateInvertFilteredGroupsAttr()

◆ CreateMergeGroupNameAttr()

◆ Define()

◆ Get()

◆ GetCollidersCollectionAPI()

◆ GetFilteredGroupsRel()

◆ GetInvertFilteredGroupsAttr()

◆ GetMergeGroupNameAttr()

◆ GetSchemaAttributeNames()

Friends And Related Function Documentation

◆ UsdSchemaRegistry

Member Data Documentation

◆ schemaKind