WARNING: Draft API, this design is not fixed and may change in the future. More...
Public Member Functions | |
PhysxSchemaPhysxTendonAttachmentRootAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken()) | |
Construct a PhysxSchemaPhysxTendonAttachmentRootAPI on UsdPrim prim with name name . More... | |
PhysxSchemaPhysxTendonAttachmentRootAPI (const UsdSchemaBase &schemaObj, const TfToken &name) | |
Construct a PhysxSchemaPhysxTendonAttachmentRootAPI on the prim held by schemaObj with name name . More... | |
virtual PHYSXSCHEMA_API | ~PhysxSchemaPhysxTendonAttachmentRootAPI () |
Destructor. More... | |
TfToken | GetName () const |
Returns the name of this multiple-apply schema instance. More... | |
PHYSXSCHEMA_API UsdAttribute | GetTendonEnabledAttr () const |
Enables/disables the tendon from contributing to the articulation dynamics. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateTendonEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetTendonEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetStiffnessAttr () const |
Common sub-tendon length spring stiffness. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetStiffnessAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetDampingAttr () const |
Common sub-tendon length damping. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetLimitStiffnessAttr () const |
Common sub-tendon length-limit spring stiffness. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateLimitStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetLimitStiffnessAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetOffsetAttr () const |
Common sub-tendon length offset. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateOffsetAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetOffsetAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
Public Member Functions inherited from PhysxSchemaPhysxTendonAttachmentAPI | |
PhysxSchemaPhysxTendonAttachmentAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken()) | |
Construct a PhysxSchemaPhysxTendonAttachmentAPI on UsdPrim prim with name name . More... | |
PhysxSchemaPhysxTendonAttachmentAPI (const UsdSchemaBase &schemaObj, const TfToken &name) | |
Construct a PhysxSchemaPhysxTendonAttachmentAPI on the prim held by schemaObj with name name . More... | |
virtual PHYSXSCHEMA_API | ~PhysxSchemaPhysxTendonAttachmentAPI () |
Destructor. More... | |
TfToken | GetName () const |
Returns the name of this multiple-apply schema instance. More... | |
PHYSXSCHEMA_API UsdAttribute | GetGearingAttr () const |
Attachment distance scaling factor. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateGearingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetGearingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetLocalPosAttr () const |
Location of the attachment. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateLocalPosAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetLocalPosAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetParentAttachmentAttr () const |
API instance name of parent attachment at parentLink. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateParentAttachmentAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetParentAttachmentAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdRelationship | GetParentLinkRel () const |
Relationship to parent link that has a PhysxTendonAttachmentAPI or PhysxTendonAttachmentRootAPI with instance name parentAttachment applied. More... | |
PHYSXSCHEMA_API UsdRelationship | CreateParentLinkRel () const |
See GetParentLinkRel(), 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, const TfToken instanceName=TfToken()) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAttachmentRootAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a PhysxSchemaPhysxTendonAttachmentRootAPI holding the prim adhering to this schema at path on stage . More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAttachmentRootAPI | Get (const UsdPrim &prim, const TfToken &name) |
Return a PhysxSchemaPhysxTendonAttachmentRootAPI with name name holding the prim prim . More... | |
static PHYSXSCHEMA_API bool | IsSchemaPropertyBaseName (const TfToken &baseName) |
Checks if the given name baseName is the base name of a property of PhysxTendonAttachmentRootAPI. More... | |
static PHYSXSCHEMA_API bool | IsPhysxTendonAttachmentRootAPIPath (const SdfPath &path, TfToken *name) |
Checks if the given path path is of an API schema of type PhysxTendonAttachmentRootAPI. More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAttachmentRootAPI | Apply (const UsdPrim &prim, const TfToken &name) |
Applies this multiple-apply API schema to the given prim along with the given instance name, name . More... | |
Static Public Member Functions inherited from PhysxSchemaPhysxTendonAttachmentAPI | |
static PHYSXSCHEMA_API const TfTokenVector & | GetSchemaAttributeNames (bool includeInherited=true, const TfToken instanceName=TfToken()) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAttachmentAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a PhysxSchemaPhysxTendonAttachmentAPI holding the prim adhering to this schema at path on stage . More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAttachmentAPI | Get (const UsdPrim &prim, const TfToken &name) |
Return a PhysxSchemaPhysxTendonAttachmentAPI with name name holding the prim prim . More... | |
static PHYSXSCHEMA_API bool | IsSchemaPropertyBaseName (const TfToken &baseName) |
Checks if the given name baseName is the base name of a property of PhysxTendonAttachmentAPI. More... | |
static PHYSXSCHEMA_API bool | IsPhysxTendonAttachmentAPIPath (const SdfPath &path, TfToken *name) |
Checks if the given path path is of an API schema of type PhysxTendonAttachmentAPI. More... | |
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAttachmentAPI | Apply (const UsdPrim &prim, const TfToken &name) |
Applies this multiple-apply API schema to the given prim along with the given instance name, name . More... | |
Static Public Attributes | |
static const UsdSchemaType | schemaType = UsdSchemaType::MultipleApplyAPI |
Compile time constant representing what kind of schema this class is. More... | |
Static Public Attributes inherited from PhysxSchemaPhysxTendonAttachmentAPI | |
static const UsdSchemaType | schemaType = UsdSchemaType::MultipleApplyAPI |
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... | |
Protected Member Functions inherited from PhysxSchemaPhysxTendonAttachmentAPI | |
PHYSXSCHEMA_API UsdSchemaType | _GetSchemaType () const override |
Returns the type of schema this class belongs to. More... | |
Friends | |
class | UsdSchemaRegistry |
WARNING: Draft API, this design is not fixed and may change in the future.
Applied to an articulation-link rigid-body Xformable.
The root API creates a new spatial tendon tree. The root tendon attachment is the only attachment in a tendon tree that does not have a parent, so the parentLink, parentAttachment, and gearing attributes inherited from PhysxTendonAttachmentAPI are ignored for a root.
Spatial tendons create line-of-sight distance constraints between links of a single articulation. In particular, spatial tendons run through attachments that are positioned relative to a rigid-body link, and their length is defined as a weighted sum of the distance between the attachments in the tendon.
Spatial tendons may branch, in which case the tendon splits up into multiple conceptual sub-tendons, one for each root-to-leaf path in the tendon tree. The tendon tree starts at the root, and its topology is defined by the attachments' parentLink rel and parentAttachment token.
It is possible to create multiple attachments per link, see PhysxTendonAttachmentAPI.
Details on dynamics:
The length of a sub-tendon in the tree is
subTendonLength = sum(gearing[i] * |p[i] - p_parent[i]|)
where the sum is evaluated along the unique tree path between root and leaf. The gearing[i] is the i-th attachment's gearing, and |p[i] - p_parent[i]| is the distance between the positions of the i-th attachment and its parent attachment.
Each subtendon has spring-damper dynamics acting on the length constraint
constraint = 0 = offset + subTendonLength - restLength
where the offset is a common summand for all sub-tendons of a spatial tendon, and the restLength is specific to a sub-tendon, see the PhysxTendonAttachmentLeafAPI.
If limits are not active, the sub-tendon force that acts on the leaf is
F = stiffness * constraint + damping * tendonVelocity
where tendonVelocity is the sum of the time derivatives of the line-of-sight distances between 1) the leaf and its parent attachment and 2) the tendon root and its first child attachment on the path to the leaf. Stiffness and damping are common parameters for all sub-tendons.
The 3D force applied at the leaf attachment is equal to
F * (p_parent - p_leaf).
where p_leaf and p_parent are the leaf's position and its parent's position, respectively. The reaction force acting on the root attachment is
F * (p_child_leaf - p_root)
where p_child_leaf is the position of the root's child attachment that leads to the leaf that produces F, and p_root is the root attachment position. The tendon force is not further propagated through the tendon, so at intermediate attachments (i.e. created by PhysxTendonAttachmentAPI) no forces are applied.
Note that a spatial tendon may both pull and push on the leaf and root attachments. A string-like, one-sided constraint can be implemented using the sub-tendon's length limits.
Sub-tendon length limits constrain the offset length
lowerLimit <= subTendonLength + offset<= upperLimit
and, when active, add a restoring spring force parametrized by limitStiffness to the tendon force, analogous to the length constraint force above. Limit dynamics are damped by the tendon-length damping that is applied regardless of a limit being active. Limit parameters are attributes of the PhysxTendonAttachmentLeafAPI.
Definition at line 123 of file physxTendonAttachmentRootAPI.h.
|
inlineexplicit |
Construct a PhysxSchemaPhysxTendonAttachmentRootAPI on UsdPrim prim
with name name
.
Equivalent to PhysxSchemaPhysxTendonAttachmentRootAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "physxTendon:name"));
for a valid prim
, but will not immediately throw an error for an invalid prim
Definition at line 140 of file physxTendonAttachmentRootAPI.h.
|
inlineexplicit |
Construct a PhysxSchemaPhysxTendonAttachmentRootAPI on the prim held by schemaObj
with name name
.
Should be preferred over PhysxSchemaPhysxTendonAttachmentRootAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.
Definition at line 149 of file physxTendonAttachmentRootAPI.h.
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virtual |
Destructor.
|
overrideprotected |
Returns the type of schema this class belongs to.
|
static |
Applies this multiple-apply API schema to the given prim
along with the given instance name, name
.
This information is stored by adding "PhysxTendonAttachmentRootAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name
is 'instance1', the token 'PhysxTendonAttachmentRootAPI:instance1' is added to 'apiSchemas'.
PHYSXSCHEMA_API UsdAttribute CreateDampingAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetDampingAttr(), 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 CreateLimitStiffnessAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetLimitStiffnessAttr(), 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 CreateOffsetAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetOffsetAttr(), 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 CreateStiffnessAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetStiffnessAttr(), 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 CreateTendonEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetTendonEnabledAttr(), 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
.
|
static |
Return a PhysxSchemaPhysxTendonAttachmentRootAPI 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. path
must be of the format <path>.physxTendon:name .
This is shorthand for the following:
|
static |
Return a PhysxSchemaPhysxTendonAttachmentRootAPI with name name
holding the prim prim
.
Shorthand for PhysxSchemaPhysxTendonAttachmentRootAPI(prim, name);
PHYSXSCHEMA_API UsdAttribute GetDampingAttr | ( | ) | const |
Common sub-tendon length damping.
Range: [0, inf) Units: force / distance * time = mass / time
Declaration | float damping = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
PHYSXSCHEMA_API UsdAttribute GetLimitStiffnessAttr | ( | ) | const |
Common sub-tendon length-limit spring stiffness.
Range: [0, inf) Units: force / distance = mass / time / time
Declaration | float limitStiffness = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
|
inline |
Returns the name of this multiple-apply schema instance.
Definition at line 169 of file physxTendonAttachmentRootAPI.h.
PHYSXSCHEMA_API UsdAttribute GetOffsetAttr | ( | ) | const |
Common sub-tendon length offset.
Range: (-inf, inf) Units: distance
Declaration | float offset = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
|
static |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name.
Does not include attributes that may be authored by custom/extended methods of the schemas involved. The names returned will have the proper namespace prefix.
PHYSXSCHEMA_API UsdAttribute GetStiffnessAttr | ( | ) | const |
Common sub-tendon length spring stiffness.
Range: [0, inf) Units: force / distance = mass / time / time
Declaration | float stiffness = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
PHYSXSCHEMA_API UsdAttribute GetTendonEnabledAttr | ( | ) | const |
Enables/disables the tendon from contributing to the articulation dynamics.
Declaration | bool tendonEnabled = 1 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
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static |
Checks if the given path path
is of an API schema of type PhysxTendonAttachmentRootAPI.
If so, it stores the instance name of the schema in name
and returns true. Otherwise, it returns false.
|
static |
Checks if the given name baseName
is the base name of a property of PhysxTendonAttachmentRootAPI.
|
static |
Compile time constant representing what kind of schema this class is.
Definition at line 129 of file physxTendonAttachmentRootAPI.h.