24 #ifndef PHYSXSCHEMA_GENERATED_PHYSXARTICULATIONFORCESENSORAPI_H
25 #define PHYSXSCHEMA_GENERATED_PHYSXARTICULATIONFORCESENSORAPI_H
31 #include "pxr/usd/usd/apiSchemaBase.h"
32 #include "pxr/usd/usd/prim.h"
33 #include "pxr/usd/usd/stage.h"
36 #include "pxr/base/vt/value.h"
38 #include "pxr/base/gf/vec3d.h"
39 #include "pxr/base/gf/vec3f.h"
40 #include "pxr/base/gf/matrix4d.h"
42 #include "pxr/base/tf/token.h"
43 #include "pxr/base/tf/type.h"
45 PXR_NAMESPACE_OPEN_SCOPE
67 static const UsdSchemaType
schemaType = UsdSchemaType::SingleApplyAPI;
74 : UsdAPISchemaBase(prim)
82 : UsdAPISchemaBase(schemaObj)
94 static const TfTokenVector &
108 Get(
const UsdStagePtr &stage,
const SdfPath &path);
127 Apply(
const UsdPrim &prim);
138 friend class UsdSchemaRegistry;
140 static const TfType &_GetStaticTfType();
142 static bool _IsTypedSchema();
146 const TfType &_GetTfType()
const override;
169 UsdAttribute
CreateForceAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
192 UsdAttribute
CreateTorqueAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
295 PXR_NAMESPACE_CLOSE_SCOPE
PHYSXSCHEMA_API UsdAttribute GetTorqueAttr() const
Spatial torque in the local frame of the sensor computed by the simulation.
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI Apply(const UsdPrim &prim)
Applies this single-apply API schema to the given prim.
PHYSXSCHEMA_API UsdAttribute CreateWorldFrameEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetWorldFrameEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateForceAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
PhysX articulation sensor to measure spatial force.
PHYSXSCHEMA_API UsdAttribute CreateForwardDynamicsForcesEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetForwardDynamicsForcesEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs...
virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxArticulationForceSensorAPI()
Destructor.
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI Get(const UsdStagePtr &stage, const SdfPath &path)
Return a PhysxSchemaPhysxArticulationForceSensorAPI holding the prim adhering to this schema at path ...
PHYSXSCHEMA_API UsdAttribute GetConstraintSolverForcesEnabledAttr() const
Boolean defining whether to receive forces from constraint solver.
PHYSXSCHEMA_API UsdAttribute CreateTorqueAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetTorqueAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
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 cl...
PhysxSchemaPhysxArticulationForceSensorAPI(const UsdPrim &prim=UsdPrim())
Construct a PhysxSchemaPhysxArticulationForceSensorAPI on UsdPrim prim .
static const UsdSchemaType schemaType
Compile time constant representing what kind of schema this class is.
PHYSXSCHEMA_API UsdAttribute GetForwardDynamicsForcesEnabledAttr() const
Boolean defining whether to receive forces from forward dynamics.
PHYSXSCHEMA_API UsdAttribute GetForceAttr() const
Spatial force in the local frame of the sensor computed by the simulation.
PHYSXSCHEMA_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
PHYSXSCHEMA_API UsdAttribute GetWorldFrameEnabledAttr() const
Boolean defining whether reported force is in world frame.
PHYSXSCHEMA_API UsdAttribute CreateSensorEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSensorEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetSensorEnabledAttr() const
Boolean defining whether sensor is enabled.
PhysxSchemaPhysxArticulationForceSensorAPI(const UsdSchemaBase &schemaObj)
Construct a PhysxSchemaPhysxArticulationForceSensorAPI on the prim held by schemaObj ...
PHYSXSCHEMA_API UsdAttribute CreateConstraintSolverForcesEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetConstraintSolverForcesEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get v...