PhysX articulation sensor to measure spatial force. More...
Inherits UsdAPISchemaBase.
Public Member Functions | |
PhysxSchemaPhysxArticulationForceSensorAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a PhysxSchemaPhysxArticulationForceSensorAPI on UsdPrim prim . More... | |
PhysxSchemaPhysxArticulationForceSensorAPI (const UsdSchemaBase &schemaObj) | |
Construct a PhysxSchemaPhysxArticulationForceSensorAPI on the prim held by schemaObj . More... | |
virtual PHYSXSCHEMA_API | ~PhysxSchemaPhysxArticulationForceSensorAPI () |
Destructor. More... | |
PHYSXSCHEMA_API UsdAttribute | GetForceAttr () const |
Spatial force in the local frame of the sensor computed by the simulation. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetTorqueAttr () const |
Spatial torque in the local frame of the sensor computed by the simulation. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetTorqueAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetSensorEnabledAttr () const |
Boolean defining whether sensor is enabled. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateSensorEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetSensorEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetWorldFrameEnabledAttr () const |
Boolean defining whether reported force is in world frame. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateWorldFrameEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetWorldFrameEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetForwardDynamicsForcesEnabledAttr () const |
Boolean defining whether to receive forces from forward dynamics. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateForwardDynamicsForcesEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetForwardDynamicsForcesEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetConstraintSolverForcesEnabledAttr () const |
Boolean defining whether to receive forces from constraint solver. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateConstraintSolverForcesEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetConstraintSolverForcesEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
Static Public Member Functions | |
static PHYSXSCHEMA_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. More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a PhysxSchemaPhysxArticulationForceSensorAPI holding the prim adhering to this schema at path on stage . More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI | Apply (const UsdPrim &prim) |
Applies this single-apply API schema to the given prim . More... | |
Static Public Attributes | |
static const UsdSchemaType | schemaType = UsdSchemaType::SingleApplyAPI |
Compile time constant representing what kind of schema this class is. More... | |
Protected Member Functions | |
PHYSXSCHEMA_API UsdSchemaType | _GetSchemaType () const override |
Returns the type of schema this class belongs to. More... | |
Friends | |
class | UsdSchemaRegistry |
PhysX articulation sensor to measure spatial force.
Articulation sensor API must be applied to a UsdGeom.Xformable in order to get a transformation information. The UsdGeom.Xformable must be created under the articulated rigid body in order to compute a relative transformation between the body and the sensor.
Definition at line 61 of file physxArticulationForceSensorAPI.h.
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inlineexplicit |
Construct a PhysxSchemaPhysxArticulationForceSensorAPI on UsdPrim prim
.
Equivalent to PhysxSchemaPhysxArticulationForceSensorAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim
, but will not immediately throw an error for an invalid prim
Definition at line 73 of file physxArticulationForceSensorAPI.h.
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inlineexplicit |
Construct a PhysxSchemaPhysxArticulationForceSensorAPI on the prim held by schemaObj
.
Should be preferred over PhysxSchemaPhysxArticulationForceSensorAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.
Definition at line 81 of file physxArticulationForceSensorAPI.h.
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virtual |
Destructor.
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overrideprotected |
Returns the type of schema this class belongs to.
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static |
Applies this single-apply API schema to the given prim
.
This information is stored by adding "PhysxArticulationForceSensorAPI" to the token-valued, listOp metadata apiSchemas on the prim.
PHYSXSCHEMA_API UsdAttribute CreateConstraintSolverForcesEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetConstraintSolverForcesEnabledAttr(), and also Usd_Create_Or_Get_Property 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
.
PHYSXSCHEMA_API UsdAttribute CreateForceAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetForceAttr(), and also Usd_Create_Or_Get_Property 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
.
PHYSXSCHEMA_API UsdAttribute CreateForwardDynamicsForcesEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetForwardDynamicsForcesEnabledAttr(), and also Usd_Create_Or_Get_Property 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
.
PHYSXSCHEMA_API UsdAttribute CreateSensorEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetSensorEnabledAttr(), and also Usd_Create_Or_Get_Property 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
.
PHYSXSCHEMA_API UsdAttribute CreateTorqueAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetTorqueAttr(), and also Usd_Create_Or_Get_Property 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
.
PHYSXSCHEMA_API UsdAttribute CreateWorldFrameEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetWorldFrameEnabledAttr(), and also Usd_Create_Or_Get_Property 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 PhysxSchemaPhysxArticulationForceSensorAPI 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:
PHYSXSCHEMA_API UsdAttribute GetConstraintSolverForcesEnabledAttr | ( | ) | const |
Boolean defining whether to receive forces from constraint solver.
Declaration | bool physxArticulationForceSensor:constraintSolverForcesEnabled = 1 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
PHYSXSCHEMA_API UsdAttribute GetForceAttr | ( | ) | const |
Spatial force in the local frame of the sensor computed by the simulation.
Units: force
Declaration | vector3f physxArticulationForceSensor:force = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Vector3f |
PHYSXSCHEMA_API UsdAttribute GetForwardDynamicsForcesEnabledAttr | ( | ) | const |
Boolean defining whether to receive forces from forward dynamics.
Declaration | bool physxArticulationForceSensor:forwardDynamicsForcesEnabled = 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.
PHYSXSCHEMA_API UsdAttribute GetSensorEnabledAttr | ( | ) | const |
Boolean defining whether sensor is enabled.
Declaration | bool physxArticulationForceSensor:sensorEnabled = 1 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
PHYSXSCHEMA_API UsdAttribute GetTorqueAttr | ( | ) | const |
Spatial torque in the local frame of the sensor computed by the simulation.
Units: torque
Declaration | vector3f physxArticulationForceSensor:torque = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Vector3f |
PHYSXSCHEMA_API UsdAttribute GetWorldFrameEnabledAttr | ( | ) | const |
Boolean defining whether reported force is in world frame.
Declaration | bool physxArticulationForceSensor:worldFrameEnabled = 0 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
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static |
Compile time constant representing what kind of schema this class is.
Definition at line 67 of file physxArticulationForceSensorAPI.h.