UsdPhysicsJoint Class Reference

A joint constrains the movement of rigid bodies. More...

#include <joint.h>

Inheritance diagram for UsdPhysicsJoint:

Public Member Functions
	UsdPhysicsJoint (const UsdPrim &prim=UsdPrim())
	Construct a UsdPhysicsJoint on UsdPrim prim .
	UsdPhysicsJoint (const UsdSchemaBase &schemaObj)
	Construct a UsdPhysicsJoint on the prim held by schemaObj .
virtual USDPHYSICS_API	~UsdPhysicsJoint ()
	Destructor.
USDPHYSICS_API UsdAttribute	GetLocalPos0Attr () const
	Relative position of the joint frame to body0's frame.
USDPHYSICS_API UsdAttribute	CreateLocalPos0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalPos0Attr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetLocalRot0Attr () const
	Relative orientation of the joint frame to body0's frame.
USDPHYSICS_API UsdAttribute	CreateLocalRot0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalRot0Attr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetLocalPos1Attr () const
	Relative position of the joint frame to body1's frame.
USDPHYSICS_API UsdAttribute	CreateLocalPos1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalPos1Attr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetLocalRot1Attr () const
	Relative orientation of the joint frame to body1's frame.
USDPHYSICS_API UsdAttribute	CreateLocalRot1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalRot1Attr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetJointEnabledAttr () const
	Determines if the joint is enabled.
USDPHYSICS_API UsdAttribute	CreateJointEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetJointEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetCollisionEnabledAttr () const
	Determines if the jointed subtrees should collide or not.
USDPHYSICS_API UsdAttribute	CreateCollisionEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetCollisionEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetExcludeFromArticulationAttr () const
	Determines if the joint can be included in an Articulation.
USDPHYSICS_API UsdAttribute	CreateExcludeFromArticulationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetExcludeFromArticulationAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetBreakForceAttr () const
	Joint break force.
USDPHYSICS_API UsdAttribute	CreateBreakForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetBreakForceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdAttribute	GetBreakTorqueAttr () const
	Joint break torque.
USDPHYSICS_API UsdAttribute	CreateBreakTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetBreakTorqueAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdRelationship	GetBody0Rel () const
	Relationship to any UsdGeomXformable.
USDPHYSICS_API UsdRelationship	CreateBody0Rel () const
	See GetBody0Rel(), and also Create vs Get Property Methods for when to use Get vs Create.
USDPHYSICS_API UsdRelationship	GetBody1Rel () const
	Relationship to any UsdGeomXformable.
USDPHYSICS_API UsdRelationship	CreateBody1Rel () const
	See GetBody1Rel(), and also Create vs Get Property Methods for when to use Get vs Create.
Public Member Functions inherited from UsdGeomImageable
	UsdGeomImageable (const UsdPrim &prim=UsdPrim())
	Construct a UsdGeomImageable on UsdPrim prim .
	UsdGeomImageable (const UsdSchemaBase &schemaObj)
	Construct a UsdGeomImageable on the prim held by schemaObj .
virtual USDGEOM_API	~UsdGeomImageable ()
	Destructor.
USDGEOM_API UsdAttribute	GetVisibilityAttr () const
	Visibility is meant to be the simplest form of "pruning" visibility that is supported by most DCC apps.
USDGEOM_API UsdAttribute	CreateVisibilityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetVisibilityAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDGEOM_API UsdAttribute	GetPurposeAttr () const
	Purpose is a classification of geometry into categories that can each be independently included or excluded from traversals of prims on a stage, such as rendering or bounding-box computation traversals.
USDGEOM_API UsdAttribute	CreatePurposeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetPurposeAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
USDGEOM_API UsdRelationship	GetProxyPrimRel () const
	The proxyPrim relationship allows us to link a prim whose purpose is "render" to its (single target) purpose="proxy" prim.
USDGEOM_API UsdRelationship	CreateProxyPrimRel () const
	See GetProxyPrimRel(), and also Create vs Get Property Methods for when to use Get vs Create.
USDGEOM_API void	MakeVisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
	Make the imageable visible if it is invisible at the given time.
USDGEOM_API void	MakeInvisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
	Makes the imageable invisible if it is visible at the given time.
USDGEOM_API TfToken	ComputeVisibility (UsdTimeCode const &time=UsdTimeCode::Default()) const
	Calculate the effective visibility of this prim, as defined by its most ancestral authored "invisible" opinion, if any.
USDGEOM_API UsdAttribute	GetPurposeVisibilityAttr (const TfToken &purpose=UsdGeomTokens->default_) const
	Return the attribute that is used for expressing visibility opinions for the given purpose.
USDGEOM_API TfToken	ComputeEffectiveVisibility (const TfToken &purpose=UsdGeomTokens->default_, const UsdTimeCode &time=UsdTimeCode::Default()) const
	Calculate the effective purpose visibility of this prim for the given purpose, taking into account opinions for the corresponding purpose attribute, along with overall visibility opinions.
USDGEOM_API PurposeInfo	ComputePurposeInfo () const
	Calculate the effective purpose information about this prim which includes final computed purpose value of the prim as well as whether the purpose value should be inherited by namespace children without their own purpose opinions.
USDGEOM_API PurposeInfo	ComputePurposeInfo (const PurposeInfo &parentPurposeInfo) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Calculates the effective purpose information about this prim, given the computed purpose information of its parent prim.
USDGEOM_API TfToken	ComputePurpose () const
	Calculate the effective purpose information about this prim.
USDGEOM_API UsdPrim	ComputeProxyPrim (UsdPrim *renderPrim=NULL) const
	Find the prim whose purpose is proxy that serves as the proxy for this prim, as established by the GetProxyPrimRel(), or an invalid UsdPrim if this prim has no proxy.
USDGEOM_API bool	SetProxyPrim (const UsdPrim &proxy) const
	Convenience function for authoring the renderProxy rel on this prim to target the given proxy prim.
USDGEOM_API bool	SetProxyPrim (const UsdSchemaBase &proxy) const
USDGEOM_API GfBBox3d	ComputeWorldBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
	Compute the bound of this prim in world space, at the specified time, and for the specified purposes.
USDGEOM_API GfBBox3d	ComputeLocalBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
	Compute the bound of this prim in local space, at the specified time, and for the specified purposes.
USDGEOM_API GfBBox3d	ComputeUntransformedBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
	Compute the untransformed bound of this prim, at the specified time, and for the specified purposes.
USDGEOM_API GfMatrix4d	ComputeLocalToWorldTransform (UsdTimeCode const &time) const
	Compute the transformation matrix for this prim at the given time, including the transform authored on the Prim itself, if present.
USDGEOM_API GfMatrix4d	ComputeParentToWorldTransform (UsdTimeCode const &time) const
	Compute the transformation matrix for this prim at the given time, NOT including the transform authored on the prim itself.
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 UsdPhysicsJoint	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdPhysicsJoint holding the prim adhering to this schema at path on stage.
static USDPHYSICS_API UsdPhysicsJoint	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 Public Member Functions inherited from UsdGeomImageable
static USDGEOM_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 USDGEOM_API UsdGeomImageable	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdGeomImageable holding the prim adhering to this schema at path on stage.
static USDGEOM_API const TfTokenVector &	GetOrderedPurposeTokens ()
	Returns an ordered list of allowed values of the purpose attribute.
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 UsdGeomImageable
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractTyped
	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.
USDGEOM_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

A joint constrains the movement of rigid bodies.

Joint can be created between two rigid bodies or between one rigid body and world. By default joint primitive defines a D6 joint where all degrees of freedom are free. Three linear and three angular degrees of freedom. Note that default behavior is to disable collision between jointed bodies.

Definition at line 45 of file joint.h.

Constructor & Destructor Documentation

UsdPhysicsJoint() [1/2]

UsdPhysicsJoint ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a UsdPhysicsJoint on UsdPrim prim .

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

Definition at line 57 of file joint.h.

UsdPhysicsJoint() [2/2]

UsdPhysicsJoint ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a UsdPhysicsJoint on the prim held by schemaObj .

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

Definition at line 65 of file joint.h.

~UsdPhysicsJoint()

virtual USDPHYSICS_API ~UsdPhysicsJoint ( )

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 UsdGeomImageable.

Reimplemented in UsdPhysicsPrismaticJoint, UsdPhysicsRevoluteJoint, and UsdPhysicsSphericalJoint.

CreateBody0Rel()

USDPHYSICS_API UsdRelationship CreateBody0Rel

(

)

const

See GetBody0Rel(), and also Create vs Get Property Methods for when to use Get vs Create.

CreateBody1Rel()

USDPHYSICS_API UsdRelationship CreateBody1Rel

(

)

const

See GetBody1Rel(), and also Create vs Get Property Methods for when to use Get vs Create.

CreateBreakForceAttr()

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

See GetBreakForceAttr(), 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.

CreateBreakTorqueAttr()

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

See GetBreakTorqueAttr(), 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.

CreateCollisionEnabledAttr()

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

See GetCollisionEnabledAttr(), 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.

CreateExcludeFromArticulationAttr()

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

See GetExcludeFromArticulationAttr(), 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.

CreateJointEnabledAttr()

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

See GetJointEnabledAttr(), 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.

CreateLocalPos0Attr()

USDPHYSICS_API UsdAttribute CreateLocalPos0Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalPos0Attr(), 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.

CreateLocalPos1Attr()

USDPHYSICS_API UsdAttribute CreateLocalPos1Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalPos1Attr(), 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.

CreateLocalRot0Attr()

USDPHYSICS_API UsdAttribute CreateLocalRot0Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalRot0Attr(), 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.

CreateLocalRot1Attr()

USDPHYSICS_API UsdAttribute CreateLocalRot1Attr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLocalRot1Attr(), 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 UsdPhysicsJoint 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 UsdPhysicsJoint Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a UsdPhysicsJoint 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:

UsdPhysicsJoint(stage->GetPrimAtPath(path));

GetBody0Rel()

USDPHYSICS_API UsdRelationship GetBody0Rel

(

)

const

Relationship to any UsdGeomXformable.

GetBody1Rel()

USDPHYSICS_API UsdRelationship GetBody1Rel

(

)

const

Relationship to any UsdGeomXformable.

GetBreakForceAttr()

USDPHYSICS_API UsdAttribute GetBreakForceAttr

(

)

const

Joint break force.

If set, joint is to break when this force limit is reached. (Used for linear DOFs.) Units: mass * distance / second / second

Declaration	float physics:breakForce = inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

GetBreakTorqueAttr()

USDPHYSICS_API UsdAttribute GetBreakTorqueAttr

(

)

const

Joint break torque.

If set, joint is to break when this torque limit is reached. (Used for angular DOFs.) Units: mass * distance * distance / second / second

Declaration	float physics:breakTorque = inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

GetCollisionEnabledAttr()

USDPHYSICS_API UsdAttribute GetCollisionEnabledAttr

(

)

const

Determines if the jointed subtrees should collide or not.

Declaration	bool physics:collisionEnabled = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

GetExcludeFromArticulationAttr()

USDPHYSICS_API UsdAttribute GetExcludeFromArticulationAttr

(

)

const

Determines if the joint can be included in an Articulation.

Declaration	uniform bool physics:excludeFromArticulation = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool
Variability	SdfVariabilityUniform

GetJointEnabledAttr()

USDPHYSICS_API UsdAttribute GetJointEnabledAttr

(

)

const

Determines if the joint is enabled.

Declaration	bool physics:jointEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

GetLocalPos0Attr()

USDPHYSICS_API UsdAttribute GetLocalPos0Attr

(

)

const

Relative position of the joint frame to body0's frame.

Declaration	point3f physics:localPos0 = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

GetLocalPos1Attr()

USDPHYSICS_API UsdAttribute GetLocalPos1Attr

(

)

const

Relative position of the joint frame to body1's frame.

Declaration	point3f physics:localPos1 = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

GetLocalRot0Attr()

USDPHYSICS_API UsdAttribute GetLocalRot0Attr

(

)

const

Relative orientation of the joint frame to body0's frame.

Declaration	quatf physics:localRot0 = (1, 0, 0, 0)
C++ Type	GfQuatf
Usd Type	SdfValueTypeNames->Quatf

GetLocalRot1Attr()

USDPHYSICS_API UsdAttribute GetLocalRot1Attr

(

)

const

Relative orientation of the joint frame to body1's frame.

Declaration	quatf physics:localRot1 = (1, 0, 0, 0)
C++ Type	GfQuatf
Usd Type	SdfValueTypeNames->Quatf

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 129 of file joint.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 51 of file joint.h.

---

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

• pxr/usd/usdPhysics/joint.h