Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation. More...
Inherits UsdAPISchemaBase.
Public Member Functions | |
UsdPhysicsRigidBodyAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim . More... | |
UsdPhysicsRigidBodyAPI (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj . More... | |
virtual USDPHYSICS_API | ~UsdPhysicsRigidBodyAPI () |
Destructor. More... | |
USDPHYSICS_API UsdAttribute | GetRigidBodyEnabledAttr () const |
Determines if this PhysicsRigidBodyAPI is enabled. More... | |
USDPHYSICS_API UsdAttribute | CreateRigidBodyEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetRigidBodyEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetKinematicEnabledAttr () const |
Determines whether the body is kinematic or not. More... | |
USDPHYSICS_API UsdAttribute | CreateKinematicEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetKinematicEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetStartsAsleepAttr () const |
Determines if the body is asleep when the simulation starts. More... | |
USDPHYSICS_API UsdAttribute | CreateStartsAsleepAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetStartsAsleepAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetVelocityAttr () const |
Linear velocity in the same space as the node's xform. More... | |
USDPHYSICS_API UsdAttribute | CreateVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetAngularVelocityAttr () const |
Angular velocity in the same space as the node's xform. More... | |
USDPHYSICS_API UsdAttribute | CreateAngularVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetAngularVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdRelationship | GetSimulationOwnerRel () const |
Single PhysicsScene that will simulate this body. More... | |
USDPHYSICS_API UsdRelationship | CreateSimulationOwnerRel () const |
See GetSimulationOwnerRel(), 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 UsdPhysicsRigidBodyAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsRigidBodyAPI holding the prim adhering to this schema at path on stage . More... | |
static USDPHYSICS_API UsdPhysicsRigidBodyAPI | 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 |
Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation.
If a simulation is running it will update this prim's pose. All prims in the hierarchy below this prim should move accordingly.
Definition at line 60 of file rigidBodyAPI.h.
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inlineexplicit |
Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim
.
Equivalent to UsdPhysicsRigidBodyAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim
, but will not immediately throw an error for an invalid prim
Definition at line 72 of file rigidBodyAPI.h.
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inlineexplicit |
Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj
.
Should be preferred over UsdPhysicsRigidBodyAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.
Definition at line 80 of file rigidBodyAPI.h.
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virtual |
Destructor.
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overrideprotected |
Returns the type of schema this class belongs to.
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static |
Applies this single-apply API schema to the given prim
.
This information is stored by adding "PhysicsRigidBodyAPI" to the token-valued, listOp metadata apiSchemas on the prim.
USDPHYSICS_API UsdAttribute CreateAngularVelocityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetAngularVelocityAttr(), 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 CreateKinematicEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetKinematicEnabledAttr(), 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 CreateRigidBodyEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetRigidBodyEnabledAttr(), 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 UsdRelationship CreateSimulationOwnerRel | ( | ) | const |
See GetSimulationOwnerRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
USDPHYSICS_API UsdAttribute CreateStartsAsleepAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetStartsAsleepAttr(), 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 CreateVelocityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetVelocityAttr(), 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 UsdPhysicsRigidBodyAPI 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:
USDPHYSICS_API UsdAttribute GetAngularVelocityAttr | ( | ) | const |
Angular velocity in the same space as the node's xform.
Units: degrees/time.
Declaration | vector3f physics:angularVelocity = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Vector3f |
USDPHYSICS_API UsdAttribute GetKinematicEnabledAttr | ( | ) | const |
Determines whether the body is kinematic or not.
A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation still derives velocities for the kinematic body based on the external motion.
Declaration | bool physics:kinematicEnabled = 0 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
USDPHYSICS_API UsdAttribute GetRigidBodyEnabledAttr | ( | ) | const |
Determines if this PhysicsRigidBodyAPI is enabled.
Declaration | bool physics:rigidBodyEnabled = 1 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
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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.
USDPHYSICS_API UsdRelationship GetSimulationOwnerRel | ( | ) | const |
Single PhysicsScene that will simulate this body.
By default this is the first PhysicsScene found in the stage using UsdStage::Traverse().
USDPHYSICS_API UsdAttribute GetStartsAsleepAttr | ( | ) | const |
Determines if the body is asleep when the simulation starts.
Declaration | uniform bool physics:startsAsleep = 0 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
Variability | SdfVariabilityUniform |
USDPHYSICS_API UsdAttribute GetVelocityAttr | ( | ) | const |
Linear velocity in the same space as the node's xform.
Units: distance/time.
Declaration | vector3f physics:velocity = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Vector3f |
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static |
Compile time constant representing what kind of schema this class is.
Definition at line 66 of file rigidBodyAPI.h.