24 #ifndef PHYSXSCHEMA_GENERATED_PHYSXRIGIDBODYAPI_H
25 #define PHYSXSCHEMA_GENERATED_PHYSXRIGIDBODYAPI_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
63 static const UsdSchemaType
schemaType = UsdSchemaType::SingleApplyAPI;
70 : UsdAPISchemaBase(prim)
78 : UsdAPISchemaBase(schemaObj)
90 static const TfTokenVector &
104 Get(
const UsdStagePtr &stage,
const SdfPath &path);
123 Apply(
const UsdPrim &prim);
134 friend class UsdSchemaRegistry;
136 static const TfType &_GetStaticTfType();
138 static bool _IsTypedSchema();
142 const TfType &_GetTfType()
const override;
405 UsdAttribute
CreateEnableCCDAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
515 UsdAttribute
CreateSolveContactAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
611 UsdAttribute
CreateCfmScaleAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
626 PXR_NAMESPACE_CLOSE_SCOPE
PHYSXSCHEMA_API UsdAttribute CreateCfmScaleAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetCfmScaleAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetSleepThresholdAttr() const
Mass-normalized kinetic energy threshold below which an actor may go to sleep.
PHYSXSCHEMA_API UsdAttribute GetDisableGravityAttr() const
Disable gravity for the actor.
PHYSXSCHEMA_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
PHYSXSCHEMA_API UsdAttribute GetSolverPositionIterationCountAttr() const
Solver position iteration counts for the body.
PHYSXSCHEMA_API UsdAttribute GetEnableCCDAttr() const
Enables swept integration for the actor.
PhysxSchemaPhysxRigidBodyAPI(const UsdSchemaBase &schemaObj)
Construct a PhysxSchemaPhysxRigidBodyAPI on the prim held by schemaObj .
PHYSXSCHEMA_API UsdAttribute CreateSolverVelocityIterationCountAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSolverVelocityIterationCountAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs...
PHYSXSCHEMA_API UsdAttribute CreateLockedPosAxisAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetLockedPosAxisAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateAngularDampingAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetAngularDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
static PHYSXSCHEMA_API PhysxSchemaPhysxRigidBodyAPI Apply(const UsdPrim &prim)
Applies this single-apply API schema to the given prim.
PHYSXSCHEMA_API UsdAttribute CreateLinearDampingAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetLinearDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxRigidBodyAPI()
Destructor.
PHYSXSCHEMA_API UsdAttribute CreateSolverPositionIterationCountAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSolverPositionIterationCountAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs...
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...
PHYSXSCHEMA_API UsdAttribute CreateContactSlopCoefficientAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetContactSlopCoefficientAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Creat...
PHYSXSCHEMA_API UsdAttribute GetCfmScaleAttr() const
The cfm scale term can help stabilize an articulation by weakening the constraint's response...
PHYSXSCHEMA_API UsdAttribute GetSolverVelocityIterationCountAttr() const
Solver velocity iteration counts for the body.
PHYSXSCHEMA_API UsdAttribute CreateEnableSpeculativeCCDAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetEnableSpeculativeCCDAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateRetainAccelerationsAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetRetainAccelerationsAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetLockedPosAxisAttr() const
Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0...
PhysX rigid body extended parameters.
PHYSXSCHEMA_API UsdAttribute GetStabilizationThresholdAttr() const
Mass-normalized kinetic energy threshold below which an actor may participate in stabilization.
PHYSXSCHEMA_API UsdAttribute CreateEnableGyroscopicForcesAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetEnableGyroscopicForcesAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Creat...
PHYSXSCHEMA_API UsdAttribute CreateLockedRotAxisAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetLockedRotAxisAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetMaxLinearVelocityAttr() const
Maximum allowable linear velocity for the rigid body.
PHYSXSCHEMA_API UsdAttribute CreateSleepThresholdAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSleepThresholdAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateMaxAngularVelocityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetMaxAngularVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetAngularDampingAttr() const
Angular damping coefficient.
PHYSXSCHEMA_API UsdAttribute CreateSolveContactAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSolveContactAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateMaxContactImpulseAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetMaxContactImpulseAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
static PHYSXSCHEMA_API PhysxSchemaPhysxRigidBodyAPI Get(const UsdStagePtr &stage, const SdfPath &path)
Return a PhysxSchemaPhysxRigidBodyAPI holding the prim adhering to this schema at path on stage...
PhysxSchemaPhysxRigidBodyAPI(const UsdPrim &prim=UsdPrim())
Construct a PhysxSchemaPhysxRigidBodyAPI on UsdPrim prim .
PHYSXSCHEMA_API UsdAttribute GetMaxAngularVelocityAttr() const
Maximum allowable angular velocity for rigid body.
PHYSXSCHEMA_API UsdAttribute GetMaxDepenetrationVelocityAttr() const
The maximum depenetration velocity permitted to be introduced by the solver.
PHYSXSCHEMA_API UsdAttribute CreateMaxLinearVelocityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetMaxLinearVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetContactSlopCoefficientAttr() const
Tolerance on the angular influence of a contact that can help improve the behavior of rolling approxi...
PHYSXSCHEMA_API UsdAttribute GetEnableGyroscopicForcesAttr() const
Enables computation of gyroscopic forces on the rigid body.
PHYSXSCHEMA_API UsdAttribute GetMaxContactImpulseAttr() const
Sets a limit on the impulse that may be applied at a contact.
PHYSXSCHEMA_API UsdAttribute CreateStabilizationThresholdAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetStabilizationThresholdAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Creat...
PHYSXSCHEMA_API UsdAttribute GetSolveContactAttr() const
Process the contacts of this rigid body in the dynamics solver.
PHYSXSCHEMA_API UsdAttribute GetLockedRotAxisAttr() const
Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0...
PHYSXSCHEMA_API UsdAttribute GetRetainAccelerationsAttr() const
Carries over forces/accelerations between frames, rather than clearing them.
static const UsdSchemaType schemaType
Compile time constant representing what kind of schema this class is.
PHYSXSCHEMA_API UsdAttribute GetLinearDampingAttr() const
Linear damping coefficient.
PHYSXSCHEMA_API UsdAttribute CreateMaxDepenetrationVelocityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetMaxDepenetrationVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Cre...
PHYSXSCHEMA_API UsdAttribute GetEnableSpeculativeCCDAttr() const
Register a rigid body to dynamically adjust contact offset based on velocity.
PHYSXSCHEMA_API UsdAttribute CreateDisableGravityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetDisableGravityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateEnableCCDAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetEnableCCDAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...