Applied to a Physics Joint that must be part of an articulation. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxMimicJointAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
	Construct a PhysxSchemaPhysxMimicJointAPI on UsdPrim `prim` with name `name` . More...

	PhysxSchemaPhysxMimicJointAPI (const UsdSchemaBase &schemaObj, const TfToken &name)
	Construct a PhysxSchemaPhysxMimicJointAPI on the prim held by `schemaObj` with name `name`. More...

virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxMimicJointAPI ()
	Destructor. More...

TfToken	GetName () const
	Returns the name of this multiple-apply schema instance. More...

PHYSXSCHEMA_API UsdAttribute	GetReferenceJointAxisAttr () const
	The axis that marks the degree of freedom of the reference joint to mimic. More...

PHYSXSCHEMA_API UsdAttribute	CreateReferenceJointAxisAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetReferenceJointAxisAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

PHYSXSCHEMA_API UsdAttribute	GetGearingAttr () const
	The gearing coefficient (see relationship formulation in the documentation part of PhysxMimicJointAPI). More...

PHYSXSCHEMA_API UsdAttribute	CreateGearingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetGearingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

PHYSXSCHEMA_API UsdAttribute	GetOffsetAttr () const
	The offset coefficient (see relationship formulation in the documentation part of PhysxMimicJointAPI). More...

PHYSXSCHEMA_API UsdAttribute	CreateOffsetAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetOffsetAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

PHYSXSCHEMA_API UsdRelationship	GetReferenceJointRel () const
	The joint that shall be mimicked. More...

PHYSXSCHEMA_API UsdRelationship	CreateReferenceJointRel () const
	See GetReferenceJointRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

Static Public Member Functions
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 classes. More...

static PHYSXSCHEMA_API TfTokenVector	GetSchemaAttributeNames (bool includeInherited, const TfToken &instanceName)
	Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. More...

static PHYSXSCHEMA_API PhysxSchemaPhysxMimicJointAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxMimicJointAPI holding the prim adhering to this schema at `path` on `stage`. More...

static PHYSXSCHEMA_API PhysxSchemaPhysxMimicJointAPI	Get (const UsdPrim &prim, const TfToken &name)
	Return a PhysxSchemaPhysxMimicJointAPI with name `name` holding the prim `prim`. More...

static PHYSXSCHEMA_API std::vector < PhysxSchemaPhysxMimicJointAPI >	GetAll (const UsdPrim &prim)
	Return a vector of all named instances of PhysxSchemaPhysxMimicJointAPI on the given `prim`. More...

static PHYSXSCHEMA_API bool	IsSchemaPropertyBaseName (const TfToken &baseName)
	Checks if the given name `baseName` is the base name of a property of PhysxMimicJointAPI. More...

static PHYSXSCHEMA_API bool	IsPhysxMimicJointAPIPath (const SdfPath &path, TfToken *name)
	Checks if the given path `path` is of an API schema of type PhysxMimicJointAPI. More...

static PHYSXSCHEMA_API bool	CanApply (const UsdPrim &prim, const TfToken &name, std::string *whyNot=nullptr)
	Returns true if this multiple-apply API schema can be applied, with the given instance name, `name`, to the given `prim`. More...

static PHYSXSCHEMA_API PhysxSchemaPhysxMimicJointAPI	Apply (const UsdPrim &prim, const TfToken &name)
	Applies this multiple-apply API schema to the given `prim` along with the given instance name, `name`. More...

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::MultipleApplyAPI
	Compile time constant representing what kind of schema this class is. More...

Protected Member Functions
PHYSXSCHEMA_API UsdSchemaKind	_GetSchemaKind () const override
	Returns the kind of schema this class belongs to. More...

Friends
class	UsdSchemaRegistry

Detailed Description

Applied to a Physics Joint that must be part of an articulation.

Supported joint types are: PhysicsRevoluteJoint (with a limit set), PhysicsPrismaticJoint as well as the more generic PhysicsJoint if all linear degrees of freedom are locked.

This schema allows to interconnect the degrees of freedom of two joints according to the relationship: jointPosition + (gearing * referenceJointPosition) + offset = 0. This can be used to have, for example, one joint mimic the motion of another joint. The term "position" does not necessarily mean a translational unit, in the case of an angular degree of freedom it is an angle. The mimic joint operates on a single degree of freedom which is specified through the instance name of this multiple apply schema. The allowed instance name tokens are "rotX", "rotY" and "rotZ". See the documentation of the attribute referenceJointAxis for more info related to specifying the degree of freedom to operate on. Notes: 1) the two joints have to be part of the same articulation. 2) once the simulation has started, a significant performance penalty will be incurred if a mimic joint is added or removed, if the referenceJoint relationship is changed or if the referenceJointAxis attributes is modified. 3) the mimic joint relationship is interpreted as a two-way interaction and an impulse will get applied to the reference joint as well.

For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in PhysxSchemaTokens. So to set an attribute to the value "rightHanded", use PhysxSchemaTokens->rightHanded as the value.

Definition at line 76 of file physxMimicJointAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxMimicJointAPI	(	const UsdPrim &	prim = `UsdPrim()`,
		const TfToken &	name = `TfToken()`
	)

inlineexplicit

Construct a PhysxSchemaPhysxMimicJointAPI on UsdPrim prim with name name .

Equivalent to PhysxSchemaPhysxMimicJointAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "physxMimicJoint:name"));

for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 93 of file physxMimicJointAPI.h.

PhysxSchemaPhysxMimicJointAPI	(	const UsdSchemaBase &	schemaObj,
		const TfToken &	name
	)

inlineexplicit

Construct a PhysxSchemaPhysxMimicJointAPI on the prim held by schemaObj with name name.

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

Definition at line 102 of file physxMimicJointAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxMimicJointAPI ( )

virtual

Destructor.

Member Function Documentation

PHYSXSCHEMA_API UsdSchemaKind _GetSchemaKind ( ) const

overrideprotected

Returns the kind of schema this class belongs to.

See Also: UsdSchemaKind

static PHYSXSCHEMA_API PhysxSchemaPhysxMimicJointAPI Apply	(	const UsdPrim &	prim,
		const TfToken &	name
	)

static

Applies this multiple-apply API schema to the given prim along with the given instance name, name.

This information is stored by adding "PhysxMimicJointAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is 'instance1', the token 'PhysxMimicJointAPI:instance1' is added to 'apiSchemas'.

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

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::CanApplyAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

static PHYSXSCHEMA_API bool CanApply	(	const UsdPrim &	prim,
		const TfToken &	name,
		std::string *	whyNot = `nullptr`
	)

static

Returns true if this multiple-apply API schema can be applied, with the given instance name, name, to the given prim.

If this schema can not be a applied the prim, this returns false and, if provided, populates whyNot with the reason it can not be applied.

Note that if CanApply returns false, that does not necessarily imply that calling Apply will fail. Callers are expected to call CanApply before calling Apply if they want to ensure that it is valid to apply a schema.

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::CanApplyAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

PHYSXSCHEMA_API UsdAttribute CreateGearingAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetGearingAttr(), 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.

PHYSXSCHEMA_API UsdAttribute CreateOffsetAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetOffsetAttr(), 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.

PHYSXSCHEMA_API UsdAttribute CreateReferenceJointAxisAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetReferenceJointAxisAttr(), 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.

PHYSXSCHEMA_API UsdRelationship CreateReferenceJointRel ( ) const

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

static PHYSXSCHEMA_API PhysxSchemaPhysxMimicJointAPI Get	(	const UsdStagePtr &	stage,
		const SdfPath &	path
	)

static

Return a PhysxSchemaPhysxMimicJointAPI 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. path must be of the format <path>.physxMimicJoint:name .

This is shorthand for the following:

*  TfToken name = SdfPath::StripNamespace(path.GetToken());
*  PhysxSchemaPhysxMimicJointAPI(
*      stage->GetPrimAtPath(path.GetPrimPath()), name);
*  

static PHYSXSCHEMA_API PhysxSchemaPhysxMimicJointAPI Get	(	const UsdPrim &	prim,
		const TfToken &	name
	)

static

Return a PhysxSchemaPhysxMimicJointAPI with name name holding the prim prim.

Shorthand for PhysxSchemaPhysxMimicJointAPI(prim, name);

static PHYSXSCHEMA_API std::vector<PhysxSchemaPhysxMimicJointAPI> GetAll ( const UsdPrim & prim )

static

Return a vector of all named instances of PhysxSchemaPhysxMimicJointAPI on the given prim.

PHYSXSCHEMA_API UsdAttribute GetGearingAttr ( ) const

The gearing coefficient (see relationship formulation in the documentation part of PhysxMimicJointAPI).

Range: (-inf, inf) Units: unitless or degrees/distance or distance/degrees (the last two refer to scenarios where a linear degree of freedom is connected to an angular one or vice versa)


Declaration	`float gearing = 1`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

TfToken GetName ( ) const

inline

Returns the name of this multiple-apply schema instance.

Definition at line 128 of file physxMimicJointAPI.h.

PHYSXSCHEMA_API UsdAttribute GetOffsetAttr ( ) const

The offset coefficient (see relationship formulation in the documentation part of PhysxMimicJointAPI).

Range: (-inf, inf) Units: distance or degrees (depending on whether the mimic joint's degree of freedom is linear or angular)


Declaration	`float offset = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetReferenceJointAxisAttr ( ) const

The axis that marks the degree of freedom of the reference joint to mimic.

Has to be a valid degree of freedom on the reference joint. For joint types with a single degree of freedom (like PhysicsRevoluteJoint or PhysicsPrismaticJoint), this attribute will be ignored since the axis is defined implicitly. The mimic joint connects <targetJoint, targetJointAxis> to <referenceJoint, referenceJointAxis> with targetJoint being the prim that has PhysxMimicJointAPI applied and targetJointAxis being defined through the instance name token of PhysxMimicJointAPI.


Declaration	`uniform token referenceJointAxis = "rotX"`
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Variability	SdfVariabilityUniform
Allowed Values	rotX, rotY, rotZ

PHYSXSCHEMA_API UsdRelationship GetReferenceJointRel ( ) const

The joint that shall be mimicked.

Relationship to a prim that has the PhysicsJoint API schema applied. For the supported joint types, see the general documentation of PhysxMimicJointAPI. The reference joint as well as the joint that mimics the reference joint have to be part of the same articulation (see PhysicsArticulationRootAPI).

static PHYSXSCHEMA_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.

static PHYSXSCHEMA_API TfTokenVector GetSchemaAttributeNames	(	bool	includeInherited,
		const TfToken &	instanceName
	)

static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name.

Does not include attributes that may be authored by custom/extended methods of the schemas involved. The names returned will have the proper namespace prefix.

static PHYSXSCHEMA_API bool IsPhysxMimicJointAPIPath	(	const SdfPath &	path,
		TfToken *	name
	)

static

Checks if the given path path is of an API schema of type PhysxMimicJointAPI.

If so, it stores the instance name of the schema in name and returns true. Otherwise, it returns false.

static PHYSXSCHEMA_API bool IsSchemaPropertyBaseName ( const TfToken & baseName )

static

Checks if the given name baseName is the base name of a property of PhysxMimicJointAPI.

Member Data Documentation

const UsdSchemaKind schemaKind = UsdSchemaKind::MultipleApplyAPI

static

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

See Also: UsdSchemaKind

Definition at line 82 of file physxMimicJointAPI.h.

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

C:/g/16343887/omni/schema/source/physxSchema/physxMimicJointAPI.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation