PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations. More...
Inherits UsdAPISchemaBase.
Public Member Functions | |
UsdPhysicsArticulationRootAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsArticulationRootAPI on UsdPrim prim . More... | |
UsdPhysicsArticulationRootAPI (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj . More... | |
virtual USDPHYSICS_API | ~UsdPhysicsArticulationRootAPI () |
Destructor. 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 UsdPhysicsArticulationRootAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsArticulationRootAPI holding the prim adhering to this schema at path on stage . More... | |
static USDPHYSICS_API UsdPhysicsArticulationRootAPI | 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 |
PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations.
For floating articulations, this should be on the root body. For fixed articulations (robotics jargon for e.g. a robot arm for welding that is bolted to the floor), this API can be on a direct or indirect parent of the root joint which is connected to the world, or on the joint itself..
Definition at line 62 of file articulationRootAPI.h.
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inlineexplicit |
Construct a UsdPhysicsArticulationRootAPI on UsdPrim prim
.
Equivalent to UsdPhysicsArticulationRootAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim
, but will not immediately throw an error for an invalid prim
Definition at line 74 of file articulationRootAPI.h.
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inlineexplicit |
Construct a UsdPhysicsArticulationRootAPI on the prim held by schemaObj
.
Should be preferred over UsdPhysicsArticulationRootAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.
Definition at line 82 of file articulationRootAPI.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 "PhysicsArticulationRootAPI" to the token-valued, listOp metadata apiSchemas on the prim.
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static |
Return a UsdPhysicsArticulationRootAPI 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:
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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.
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static |
Compile time constant representing what kind of schema this class is.
Definition at line 68 of file articulationRootAPI.h.