UsdPhysicsMassAPI Class Reference

Defines explicit mass properties (mass, density, inertia etc.). More...

Inherits UsdAPISchemaBase.

Public Member Functions
	UsdPhysicsMassAPI (const UsdPrim &prim=UsdPrim())
	Construct a UsdPhysicsMassAPI on UsdPrim prim . More...
	UsdPhysicsMassAPI (const UsdSchemaBase &schemaObj)
	Construct a UsdPhysicsMassAPI on the prim held by schemaObj . More...
virtual USDPHYSICS_API	~UsdPhysicsMassAPI ()
	Destructor. More...
USDPHYSICS_API UsdAttribute	GetMassAttr () const
	If non-zero, directly specifies the mass of the object. More...
USDPHYSICS_API UsdAttribute	CreateMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMassAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetDensityAttr () const
	If non-zero, specifies the density of the object. More...
USDPHYSICS_API UsdAttribute	CreateDensityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetDensityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetCenterOfMassAttr () const
	Center of mass in the prim's local space. More...
USDPHYSICS_API UsdAttribute	CreateCenterOfMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetCenterOfMassAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetDiagonalInertiaAttr () const
	If non-zero, specifies diagonalized inertia tensor along the principal axes. More...
USDPHYSICS_API UsdAttribute	CreateDiagonalInertiaAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetDiagonalInertiaAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetPrincipalAxesAttr () const
	Orientation of the inertia tensor's principal axes in the prim's local space. More...
USDPHYSICS_API UsdAttribute	CreatePrincipalAxesAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetPrincipalAxesAttr(), 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 UsdPhysicsMassAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdPhysicsMassAPI holding the prim adhering to this schema at path on stage. More...
static USDPHYSICS_API UsdPhysicsMassAPI	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

Defines explicit mass properties (mass, density, inertia etc.).

MassAPI can be applied to any object that has a PhysicsCollisionAPI or a PhysicsRigidBodyAPI.

Definition at line 59 of file massAPI.h.

Constructor & Destructor Documentation

UsdPhysicsMassAPI ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a UsdPhysicsMassAPI on UsdPrim prim .

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

Definition at line 71 of file massAPI.h.

UsdPhysicsMassAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a UsdPhysicsMassAPI on the prim held by schemaObj .

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

Definition at line 79 of file massAPI.h.

virtual USDPHYSICS_API ~UsdPhysicsMassAPI ( )

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 UsdPhysicsMassAPI Apply ( const UsdPrim &  prim )

static

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

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

Returns

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

See Also

UsdPrim::GetAppliedSchemas()

UsdPrim::HasAPI()

UsdPrim::ApplyAPI()

UsdPrim::RemoveAPI()

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

See GetCenterOfMassAttr(), 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 CreateDensityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetDensityAttr(), 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 CreateDiagonalInertiaAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetDiagonalInertiaAttr(), 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 CreateMassAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMassAttr(), 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 CreatePrincipalAxesAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetPrincipalAxesAttr(), 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 UsdPhysicsMassAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a UsdPhysicsMassAPI 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:

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

USDPHYSICS_API UsdAttribute GetCenterOfMassAttr

(

)

const

Center of mass in the prim's local space.

Units: distance.

Declaration	point3f physics:centerOfMass = (-inf, -inf, -inf)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

USDPHYSICS_API UsdAttribute GetDensityAttr

(

)

const

If non-zero, specifies the density of the object.

In the context of rigid body physics, density indirectly results in setting mass via (mass = density x volume of the object). How the volume is computed is up to implementation of the physics system. It is generally computed from the collision approximation rather than the graphical mesh. In the case where both density and mass are specified for the same object, mass has precedence over density. Unlike mass, child's prim's density overrides parent prim's density as it is accumulative. Note that density of a collisionAPI can be also alternatively set through a PhysicsMaterialAPI. The material density has the weakest precedence in density definition. Note if density is 0.0 it is ignored. Units: mass/distance/distance/distance.

Declaration	float physics:density = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute GetDiagonalInertiaAttr

(

)

const

If non-zero, specifies diagonalized inertia tensor along the principal axes.

Note if diagonalInertial is (0.0, 0.0, 0.0) it is ignored. Units: mass*distance*distance.

Declaration	float3 physics:diagonalInertia = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Float3

USDPHYSICS_API UsdAttribute GetMassAttr

(

)

const

If non-zero, directly specifies the mass of the object.

Note that any child prim can also have a mass when they apply massAPI. In this case, the precedence rule is 'parent mass overrides the child's'. This may come as counter-intuitive, but mass is a computed quantity and in general not accumulative. For example, if a parent has mass of 10, and one of two children has mass of 20, allowing child's mass to override its parent results in a mass of -10 for the other child. Note if mass is 0.0 it is ignored. Units: mass.

Declaration	float physics:mass = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute GetPrincipalAxesAttr

(

)

const

Orientation of the inertia tensor's principal axes in the prim's local space.

Declaration	quatf physics:principalAxes = (0, 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::SingleApplyAPI

static

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

See Also

UsdSchemaType

Definition at line 65 of file massAPI.h.

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

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