PhysxSchemaPhysxVehicleWheelAttachmentAPI Class Reference

For every wheel of a vehicle, this class defines the attachment properties. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxVehicleWheelAttachmentAPI (const UsdPrim &prim=UsdPrim())
	Construct a PhysxSchemaPhysxVehicleWheelAttachmentAPI on UsdPrim prim . More...
	PhysxSchemaPhysxVehicleWheelAttachmentAPI (const UsdSchemaBase &schemaObj)
	Construct a PhysxSchemaPhysxVehicleWheelAttachmentAPI on the prim held by schemaObj . More...
virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxVehicleWheelAttachmentAPI ()
	Destructor. More...
PHYSXSCHEMA_API UsdAttribute	GetIndexAttr () const
	The index of the wheel attachment. More...
PHYSXSCHEMA_API UsdAttribute	CreateIndexAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetIndexAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSuspensionTravelDirectionAttr () const
	The direction of the suspension travel (towards the wheel) in vehicle center of mass frame. More...
PHYSXSCHEMA_API UsdAttribute	CreateSuspensionTravelDirectionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSuspensionTravelDirectionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSuspensionFramePositionAttr () const
	The point of the suspension at max compression (relative to the vehicle center of mass frame). More...
PHYSXSCHEMA_API UsdAttribute	CreateSuspensionFramePositionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSuspensionFramePositionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSuspensionFrameOrientationAttr () const
	The orientation of the suspension frame relative to the vehicle center of mass frame. More...
PHYSXSCHEMA_API UsdAttribute	CreateSuspensionFrameOrientationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSuspensionFrameOrientationAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSuspensionForceAppPointOffsetAttr () const
	Deprecated. More...
PHYSXSCHEMA_API UsdAttribute	CreateSuspensionForceAppPointOffsetAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSuspensionForceAppPointOffsetAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetWheelCenterOfMassOffsetAttr () const
	Deprecated. More...
PHYSXSCHEMA_API UsdAttribute	CreateWheelCenterOfMassOffsetAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetWheelCenterOfMassOffsetAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetTireForceAppPointOffsetAttr () const
	Deprecated. More...
PHYSXSCHEMA_API UsdAttribute	CreateTireForceAppPointOffsetAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetTireForceAppPointOffsetAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetWheelFramePositionAttr () const
	A position offset of the wheel center relative to the suspension frame. More...
PHYSXSCHEMA_API UsdAttribute	CreateWheelFramePositionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetWheelFramePositionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetWheelFrameOrientationAttr () const
	An orientation adjustment of the wheel relative to the suspension frame. More...
PHYSXSCHEMA_API UsdAttribute	CreateWheelFrameOrientationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetWheelFrameOrientationAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetDrivenAttr () const
	Deprecated. More...
PHYSXSCHEMA_API UsdAttribute	CreateDrivenAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetDrivenAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdRelationship	GetWheelRel () const
	A relationship to a PhysxVehicleWheelAPI prim. More...
PHYSXSCHEMA_API UsdRelationship	CreateWheelRel () const
	See GetWheelRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdRelationship	GetTireRel () const
	A relationship to a PhysxVehicleTireAPI prim. More...
PHYSXSCHEMA_API UsdRelationship	CreateTireRel () const
	See GetTireRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdRelationship	GetSuspensionRel () const
	A relationship to a PhysxVehicleSuspensionAPI prim. More...
PHYSXSCHEMA_API UsdRelationship	CreateSuspensionRel () const
	See GetSuspensionRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdRelationship	GetCollisionGroupRel () const
	A relationship to a PhysicsCollisionGroup instance that defines what the wheel/suspension scene queries should treat as a ground surface to collide against. More...
PHYSXSCHEMA_API UsdRelationship	CreateCollisionGroupRel () const
	See GetCollisionGroupRel(), 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 PhysxSchemaPhysxVehicleWheelAttachmentAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxVehicleWheelAttachmentAPI holding the prim adhering to this schema at path on stage. More...
static PHYSXSCHEMA_API PhysxSchemaPhysxVehicleWheelAttachmentAPI	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

Detailed Description

For every wheel of a vehicle, this class defines the attachment properties.

Has to be applied to a prim that is a descendant of a prim with PhysxVehicleAPI applied. If the wheel attachment prim (the prim with PhysxVehicleWheelAttachmentAPI applied) is a UsdGeomXformable, then the position and orientation of the prim will be set by the vehicle simulation. If the wheel attachment prim has PhysicsCollisionAPI applied, then none of its descendants are allowed to have PhysicsCollisionAPI applied. If the wheel attachment prim is a UsdGeomXformable but does not have PhysicsCollisionAPI applied, then exactly one direct child prim among all descendants is allowed to have PhysicsCollisionAPI applied. That prim will be interpreted as the collision geometry of the wheel and its position and orientation will be set by the vehicle simulation too. Note that the relative transform between the collision geometry prim and the wheel attachment prim at the start of the simulation will be maintained (the relative transform with respect to the center of mass frame of the vehicle rigid body that is). If there is no desire to have the vehicle simulation control the transform of the wheel attachment prim, then a prim type that is not a UsdGeomXformable should be chosen.

Definition at line 70 of file physxVehicleWheelAttachmentAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxVehicleWheelAttachmentAPI ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a PhysxSchemaPhysxVehicleWheelAttachmentAPI on UsdPrim prim .

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

Definition at line 82 of file physxVehicleWheelAttachmentAPI.h.

PhysxSchemaPhysxVehicleWheelAttachmentAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a PhysxSchemaPhysxVehicleWheelAttachmentAPI on the prim held by schemaObj .

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

Definition at line 90 of file physxVehicleWheelAttachmentAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxVehicleWheelAttachmentAPI ( )

virtual

Destructor.

Member Function Documentation

PHYSXSCHEMA_API UsdSchemaType _GetSchemaType ( ) const

overrideprotected

Returns the type of schema this class belongs to.

See Also

UsdSchemaType

static PHYSXSCHEMA_API PhysxSchemaPhysxVehicleWheelAttachmentAPI Apply ( const UsdPrim &  prim )

static

Applies this single-apply API schema to the given prim.

This information is stored by adding "PhysxVehicleWheelAttachmentAPI" to the token-valued, listOp metadata apiSchemas on the prim.

Returns

A valid PhysxSchemaPhysxVehicleWheelAttachmentAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxVehicleWheelAttachmentAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.

See Also

UsdPrim::GetAppliedSchemas()

UsdPrim::HasAPI()

UsdPrim::ApplyAPI()

UsdPrim::RemoveAPI()

PHYSXSCHEMA_API UsdRelationship CreateCollisionGroupRel

(

)

const

See GetCollisionGroupRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.

PHYSXSCHEMA_API UsdAttribute CreateDrivenAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetDrivenAttr(), 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 CreateIndexAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetIndexAttr(), 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 CreateSuspensionForceAppPointOffsetAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSuspensionForceAppPointOffsetAttr(), 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 CreateSuspensionFrameOrientationAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSuspensionFrameOrientationAttr(), 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 CreateSuspensionFramePositionAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSuspensionFramePositionAttr(), 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 UsdRelationship CreateSuspensionRel

(

)

const

See GetSuspensionRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.

PHYSXSCHEMA_API UsdAttribute CreateSuspensionTravelDirectionAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSuspensionTravelDirectionAttr(), 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 CreateTireForceAppPointOffsetAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetTireForceAppPointOffsetAttr(), 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 UsdRelationship CreateTireRel

(

)

const

See GetTireRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.

PHYSXSCHEMA_API UsdAttribute CreateWheelCenterOfMassOffsetAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetWheelCenterOfMassOffsetAttr(), 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 CreateWheelFrameOrientationAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetWheelFrameOrientationAttr(), 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 CreateWheelFramePositionAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetWheelFramePositionAttr(), 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 UsdRelationship CreateWheelRel

(

)

const

See GetWheelRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.

static PHYSXSCHEMA_API PhysxSchemaPhysxVehicleWheelAttachmentAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a PhysxSchemaPhysxVehicleWheelAttachmentAPI 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:

*  PhysxSchemaPhysxVehicleWheelAttachmentAPI(stage->GetPrimAtPath(path));
*  

PHYSXSCHEMA_API UsdRelationship GetCollisionGroupRel

(

)

const

A relationship to a PhysicsCollisionGroup instance that defines what the wheel/suspension scene queries should treat as a ground surface to collide against.

If not specified, no specific filtering will be applied.

PHYSXSCHEMA_API UsdAttribute GetDrivenAttr

(

)

const

Deprecated.

Please use PhysxVehicleMultiWheelDifferentialAPI instead.

True if the tire is driven by the engine through the transmission. Will be ignored if the vehicle has no drive specified (see PhysxVehicleAPI:drive) or if PhysxVehicleMultiWheelDifferentialAPI is used instead.

Declaration	bool physxVehicleWheelAttachment:driven
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetIndexAttr

(

)

const

The index of the wheel attachment.

Some other components will reference the wheel attachments based on this index. Either all indices of a vehicle's wheel attachments need to be -1 or they need to cover all entries in the group {0, .., (numberOfWheels-1)}. All indices being -1 covers the case where wheels are controlled directly through PhysxVehicleWheelControllerAPI, for example, or when deprecated APIs are used still.

Declaration	int physxVehicleWheelAttachment:index = -1
C++ Type	int
Usd Type	SdfValueTypeNames->Int

static PHYSXSCHEMA_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.

PHYSXSCHEMA_API UsdAttribute GetSuspensionForceAppPointOffsetAttr

(

)

const

Deprecated.

Please use PhysxVehicleSuspensionComplianceAPI instead.

The location (in vehicle center of mass frame) where the suspension force gets applied.

Note: will be ignored if PhysxVehicleSuspensionComplianceAPI is used.

Declaration	float3 physxVehicleWheelAttachment:suspensionForceAppPointOffset
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Float3

PHYSXSCHEMA_API UsdAttribute GetSuspensionFrameOrientationAttr

(

)

const

The orientation of the suspension frame relative to the vehicle center of mass frame.

Camber, steer and toe angles are all applied in this frame. The vehicle frame transform of the wheel will be defined by: centerOfMassFrame * suspensionFrame * wheelFrame.

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

PHYSXSCHEMA_API UsdAttribute GetSuspensionFramePositionAttr

(

)

const

The point of the suspension at max compression (relative to the vehicle center of mass frame).

Camber, steer and toe angles are all applied in this frame. The vehicle frame transform of the wheel will be defined by: centerOfMassFrame * suspensionFrame * wheelFrame.

Note: either this attribute or the deprecated wheelCenterOfMassOffset have to to be specified (with the former taking precedence).

Declaration	point3f physxVehicleWheelAttachment:suspensionFramePosition
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

PHYSXSCHEMA_API UsdRelationship GetSuspensionRel

(

)

const

A relationship to a PhysxVehicleSuspensionAPI prim.

Note: either this relationship has to be specified or the prim must have PhysxVehicleSuspensionAPI applied (none or both of the two is invalid).

PHYSXSCHEMA_API UsdAttribute GetSuspensionTravelDirectionAttr

(

)

const

The direction of the suspension travel (towards the wheel) in vehicle center of mass frame.

Note: this attribute has to be specified (there is no default).

Declaration	vector3f physxVehicleWheelAttachment:suspensionTravelDirection
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Vector3f

PHYSXSCHEMA_API UsdAttribute GetTireForceAppPointOffsetAttr

(

)

const

Deprecated.

Please use PhysxVehicleSuspensionComplianceAPI instead.

The location (in vehicle center of mass frame) where the tire force gets applied.

Note: will be ignored if PhysxVehicleSuspensionComplianceAPI is used.

Declaration	float3 physxVehicleWheelAttachment:tireForceAppPointOffset
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Float3

PHYSXSCHEMA_API UsdRelationship GetTireRel

(

)

const

A relationship to a PhysxVehicleTireAPI prim.

Note: either this relationship has to be specified or the prim must have PhysxVehicleTireAPI applied (none or both of the two is invalid).

PHYSXSCHEMA_API UsdAttribute GetWheelCenterOfMassOffsetAttr

(

)

const

Deprecated.

Please use suspensionFramePosition instead.

The location (in vehicle center of mass frame) of the wheel centre when at rest.

Note: will be ignored if suspensionFramePosition is authored.

Declaration	float3 physxVehicleWheelAttachment:wheelCenterOfMassOffset
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Float3

PHYSXSCHEMA_API UsdAttribute GetWheelFrameOrientationAttr

(

)

const

An orientation adjustment of the wheel relative to the suspension frame.

The rotation angle around the wheel's lateral axis is applied in this frame.

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

PHYSXSCHEMA_API UsdAttribute GetWheelFramePositionAttr

(

)

const

A position offset of the wheel center relative to the suspension frame.

Non-zero values might be used, for example, if the steer axis should not go through the wheel center.

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

PHYSXSCHEMA_API UsdRelationship GetWheelRel

(

)

const

A relationship to a PhysxVehicleWheelAPI prim.

Note: either this relationship has to be specified or the prim must have PhysxVehicleWheelAPI applied (none or both of the two is invalid).

Member Data Documentation

const UsdSchemaType schemaType = UsdSchemaType::SingleApplyAPI

static

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

See Also

UsdSchemaType

Definition at line 76 of file physxVehicleWheelAttachmentAPI.h.

---

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

• W:/919a5455eee1e83c/src/physxSchema/physxVehicleWheelAttachmentAPI.h