UsdPhysicsJoint Class Reference

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

Inheritance diagram for UsdPhysicsJoint:

Public Member Functions
	UsdPhysicsJoint (const UsdPrim &prim=UsdPrim())
	Construct a UsdPhysicsJoint on UsdPrim prim . More...
	UsdPhysicsJoint (const UsdSchemaBase &schemaObj)
	Construct a UsdPhysicsJoint on the prim held by schemaObj . More...
virtual USDPHYSICS_API	~UsdPhysicsJoint ()
	Destructor. More...
USDPHYSICS_API UsdAttribute	GetLocalPos0Attr () const
	Relative position of the joint frame to body0's frame. More...
USDPHYSICS_API UsdAttribute	CreateLocalPos0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalPos0Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetLocalRot0Attr () const
	Relative orientation of the joint frame to body0's frame. More...
USDPHYSICS_API UsdAttribute	CreateLocalRot0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalRot0Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetLocalPos1Attr () const
	Relative position of the joint frame to body1's frame. More...
USDPHYSICS_API UsdAttribute	CreateLocalPos1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalPos1Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetLocalRot1Attr () const
	Relative orientation of the joint frame to body1's frame. More...
USDPHYSICS_API UsdAttribute	CreateLocalRot1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLocalRot1Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetJointEnabledAttr () const
	Determines if the joint is enabled. More...
USDPHYSICS_API UsdAttribute	CreateJointEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetJointEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetCollisionEnabledAttr () const
	Determines if the jointed subtrees should collide or not. More...
USDPHYSICS_API UsdAttribute	CreateCollisionEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetCollisionEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetExcludeFromArticulationAttr () const
	Determines if the joint can be included in an Articulation. More...
USDPHYSICS_API UsdAttribute	CreateExcludeFromArticulationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetExcludeFromArticulationAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetBreakForceAttr () const
	Joint break force. More...
USDPHYSICS_API UsdAttribute	CreateBreakForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetBreakForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetBreakTorqueAttr () const
	Joint break torque. More...
USDPHYSICS_API UsdAttribute	CreateBreakTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetBreakTorqueAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdRelationship	GetBody0Rel () const
	Relationship to any UsdGeomXformable. More...
USDPHYSICS_API UsdRelationship	CreateBody0Rel () const
	See GetBody0Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdRelationship	GetBody1Rel () const
	Relationship to any UsdGeomXformable. More...
USDPHYSICS_API UsdRelationship	CreateBody1Rel () const
	See GetBody1Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. 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 UsdPhysicsJoint	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdPhysicsJoint holding the prim adhering to this schema at path on stage. More...
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. More...

Static Public Attributes
static const UsdSchemaType	schemaType = UsdSchemaType::ConcreteTyped
	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

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 62 of file joint.h.

Constructor & Destructor Documentation

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 74 of file joint.h.

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 82 of file joint.h.

virtual USDPHYSICS_API ~UsdPhysicsJoint ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaType _GetSchemaType ( ) const

overrideprotected

Returns the type of schema this class belongs to.

See Also

UsdSchemaType

USDPHYSICS_API UsdRelationship CreateBody0Rel

(

)

const

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

USDPHYSICS_API UsdRelationship CreateBody1Rel

(

)

const

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

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

See GetBreakForceAttr(), 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.

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

See GetBreakTorqueAttr(), 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.

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

See GetCollisionEnabledAttr(), 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.

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

See GetExcludeFromArticulationAttr(), 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.

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

See GetJointEnabledAttr(), 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.

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

See GetLocalPos0Attr(), 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.

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

See GetLocalPos1Attr(), 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.

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

See GetLocalRot0Attr(), 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.

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

See GetLocalRot1Attr(), 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 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.

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));
*  

USDPHYSICS_API UsdRelationship GetBody0Rel

(

)

const

Relationship to any UsdGeomXformable.

USDPHYSICS_API UsdRelationship GetBody1Rel

(

)

const

Relationship to any UsdGeomXformable.

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 / time / time

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

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 / time / time

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

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

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

USDPHYSICS_API UsdAttribute GetJointEnabledAttr

(

)

const

Determines if the joint is enabled.

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

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

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

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

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

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::ConcreteTyped

static

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

See Also

UsdSchemaType

Definition at line 68 of file joint.h.

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

• W:/919a5455eee1e83c/src/usdPhysics/joint.h