PhysxSchemaPhysxArticulationForceSensorAPI Class Reference

PhysX articulation sensor to measure spatial force. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxArticulationForceSensorAPI (const UsdPrim &prim=UsdPrim())
	Construct a PhysxSchemaPhysxArticulationForceSensorAPI on UsdPrim prim . More...
	PhysxSchemaPhysxArticulationForceSensorAPI (const UsdSchemaBase &schemaObj)
	Construct a PhysxSchemaPhysxArticulationForceSensorAPI on the prim held by schemaObj . More...
virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxArticulationForceSensorAPI ()
	Destructor. More...
PHYSXSCHEMA_API UsdAttribute	GetForceAttr () const
	Spatial force in the local frame of the sensor computed by the simulation. More...
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. More...
PHYSXSCHEMA_API UsdAttribute	GetTorqueAttr () const
	Spatial torque in the local frame of the sensor computed by the simulation. More...
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. More...
PHYSXSCHEMA_API UsdAttribute	GetSensorEnabledAttr () const
	Boolean defining whether sensor is enabled. More...
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. More...
PHYSXSCHEMA_API UsdAttribute	GetWorldFrameEnabledAttr () const
	Boolean defining whether reported force is in world frame. More...
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. More...
PHYSXSCHEMA_API UsdAttribute	GetForwardDynamicsForcesEnabledAttr () const
	Boolean defining whether to receive forces from forward dynamics. More...
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 Create. More...
PHYSXSCHEMA_API UsdAttribute	GetConstraintSolverForcesEnabledAttr () const
	Boolean defining whether to receive forces from constraint solver. More...
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 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 PhysxSchemaPhysxArticulationForceSensorAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxArticulationForceSensorAPI holding the prim adhering to this schema at path on stage. More...
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI	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
PHYSXSCHEMA_API UsdSchemaType	_GetSchemaType () const override
	Returns the type of schema this class belongs to. More...

Friends
class	UsdSchemaRegistry

Detailed Description

PhysX articulation sensor to measure spatial force.

Articulation sensor API must be applied to a UsdGeom.Xformable in order to get a transformation information. The UsdGeom.Xformable must be created under the articulated rigid body in order to compute a relative transformation between the body and the sensor.

Definition at line 61 of file physxArticulationForceSensorAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxArticulationForceSensorAPI ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a PhysxSchemaPhysxArticulationForceSensorAPI on UsdPrim prim .

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

Definition at line 73 of file physxArticulationForceSensorAPI.h.

PhysxSchemaPhysxArticulationForceSensorAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a PhysxSchemaPhysxArticulationForceSensorAPI on the prim held by schemaObj .

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

Definition at line 81 of file physxArticulationForceSensorAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxArticulationForceSensorAPI ( )

virtual

Destructor.

Member Function Documentation

PHYSXSCHEMA_API UsdSchemaType _GetSchemaType ( ) const

overrideprotected

Returns the type of schema this class belongs to.

See Also

UsdSchemaType

static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI Apply ( const UsdPrim &  prim )

static

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

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

Returns

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

See Also

UsdPrim::GetAppliedSchemas()

UsdPrim::HasAPI()

UsdPrim::ApplyAPI()

UsdPrim::RemoveAPI()

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 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 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.

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 CreateForwardDynamicsForcesEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetForwardDynamicsForcesEnabledAttr(), 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 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.

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 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.

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 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.

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 PHYSXSCHEMA_API PhysxSchemaPhysxArticulationForceSensorAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a PhysxSchemaPhysxArticulationForceSensorAPI 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:

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

PHYSXSCHEMA_API UsdAttribute GetConstraintSolverForcesEnabledAttr

(

)

const

Boolean defining whether to receive forces from constraint solver.

Declaration	bool physxArticulationForceSensor:constraintSolverForcesEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetForceAttr

(

)

const

Spatial force in the local frame of the sensor computed by the simulation.

Units: force

Declaration	vector3f physxArticulationForceSensor:force = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Vector3f

PHYSXSCHEMA_API UsdAttribute GetForwardDynamicsForcesEnabledAttr

(

)

const

Boolean defining whether to receive forces from forward dynamics.

Declaration	bool physxArticulationForceSensor:forwardDynamicsForcesEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

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.

PHYSXSCHEMA_API UsdAttribute GetSensorEnabledAttr

(

)

const

Boolean defining whether sensor is enabled.

Declaration	bool physxArticulationForceSensor:sensorEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetTorqueAttr

(

)

const

Spatial torque in the local frame of the sensor computed by the simulation.

Units: torque

Declaration	vector3f physxArticulationForceSensor:torque = (0, 0, 0)
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Vector3f

PHYSXSCHEMA_API UsdAttribute GetWorldFrameEnabledAttr

(

)

const

Boolean defining whether reported force is in world frame.

Declaration	bool physxArticulationForceSensor:worldFrameEnabled = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

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 67 of file physxArticulationForceSensorAPI.h.

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

• W:/919a5455eee1e83c/src/physxSchema/physxArticulationForceSensorAPI.h