PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations. More...

Inherits UsdAPISchemaBase.

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

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

virtual USDPHYSICS_API	~UsdPhysicsArticulationRootAPI ()
	Destructor. More...

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. More...

static USDPHYSICS_API UsdPhysicsArticulationRootAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdPhysicsArticulationRootAPI holding the prim adhering to this schema at `path` on `stage`. More...

static USDPHYSICS_API UsdPhysicsArticulationRootAPI	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
USDPHYSICS_API UsdSchemaType	_GetSchemaType () const override
	Returns the type of schema this class belongs to. More...

Friends
class	UsdSchemaRegistry

Detailed Description

PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations.

For floating articulations, this should be on the root body. For fixed articulations (robotics jargon for e.g. a robot arm for welding that is bolted to the floor), this API can be on a direct or indirect parent of the root joint which is connected to the world, or on the joint itself..

Definition at line 62 of file articulationRootAPI.h.

Constructor & Destructor Documentation

UsdPhysicsArticulationRootAPI ( const UsdPrim & prim = UsdPrim() )

inlineexplicit

Construct a UsdPhysicsArticulationRootAPI on UsdPrim prim .

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

Definition at line 74 of file articulationRootAPI.h.

UsdPhysicsArticulationRootAPI ( const UsdSchemaBase & schemaObj )

inlineexplicit

Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj .

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

Definition at line 82 of file articulationRootAPI.h.

virtual USDPHYSICS_API ~UsdPhysicsArticulationRootAPI ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaType _GetSchemaType ( ) const

overrideprotected

Returns the type of schema this class belongs to.

See Also: UsdSchemaType

static USDPHYSICS_API UsdPhysicsArticulationRootAPI Apply ( const UsdPrim & prim )

static

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

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

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

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

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

static

Return a UsdPhysicsArticulationRootAPI 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:

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

*

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.

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 68 of file articulationRootAPI.h.

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

W:/919a5455eee1e83c/src/usdPhysics/articulationRootAPI.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation