UsdPhysicsDriveAPI Class Reference

The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	UsdPhysicsDriveAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
	Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name . More...
	UsdPhysicsDriveAPI (const UsdSchemaBase &schemaObj, const TfToken &name)
	Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name. More...
virtual USDPHYSICS_API	~UsdPhysicsDriveAPI ()
	Destructor. More...
TfToken	GetName () const
	Returns the name of this multiple-apply schema instance. More...
USDPHYSICS_API UsdAttribute	GetTypeAttr () const
	Drive spring is for the acceleration at the joint (rather than the force). More...
USDPHYSICS_API UsdAttribute	CreateTypeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetTypeAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetMaxForceAttr () const
	Maximum force that can be applied to drive. More...
USDPHYSICS_API UsdAttribute	CreateMaxForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMaxForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetTargetPositionAttr () const
	Target value for position. More...
USDPHYSICS_API UsdAttribute	CreateTargetPositionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetTargetPositionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetTargetVelocityAttr () const
	Target value for velocity. More...
USDPHYSICS_API UsdAttribute	CreateTargetVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetTargetVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetDampingAttr () const
	Damping of the drive. More...
USDPHYSICS_API UsdAttribute	CreateDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
USDPHYSICS_API UsdAttribute	GetStiffnessAttr () const
	Stiffness of the drive. More...
USDPHYSICS_API UsdAttribute	CreateStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetStiffnessAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

Static Public Member Functions
static USDPHYSICS_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true, const TfToken instanceName=TfToken())
	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 USDPHYSICS_API UsdPhysicsDriveAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdPhysicsDriveAPI holding the prim adhering to this schema at path on stage. More...
static USDPHYSICS_API UsdPhysicsDriveAPI	Get (const UsdPrim &prim, const TfToken &name)
	Return a UsdPhysicsDriveAPI with name name holding the prim prim. More...
static USDPHYSICS_API bool	IsSchemaPropertyBaseName (const TfToken &baseName)
	Checks if the given name baseName is the base name of a property of PhysicsDriveAPI. More...
static USDPHYSICS_API bool	IsPhysicsDriveAPIPath (const SdfPath &path, TfToken *name)
	Checks if the given path path is of an API schema of type PhysicsDriveAPI. More...
static USDPHYSICS_API UsdPhysicsDriveAPI	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 UsdSchemaType	schemaType = UsdSchemaType::MultipleApplyAPI
	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

Detailed Description

The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target.

The PhysicsDriveAPI is a multipleApply schema: drive can be set per axis "transX", "transY", "transZ", "rotX", "rotY", "rotZ" or its "linear" for prismatic joint or "angular" for revolute joints. Setting these as a multipleApply schema TfToken name will define the degree of freedom the DriveAPI is applied to. Each drive is an implicit force-limited damped spring: Force or acceleration = stiffness * (targetPosition - position)

• damping * (targetVelocity - velocity)

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

Definition at line 70 of file driveAPI.h.

Constructor & Destructor Documentation

UsdPhysicsDriveAPI ( const UsdPrim &  prim = UsdPrim(), const TfToken &  name = TfToken()  )

inlineexplicit

Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name .

Equivalent to UsdPhysicsDriveAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "drive:name"));

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

Definition at line 87 of file driveAPI.h.

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

inlineexplicit

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

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

Definition at line 96 of file driveAPI.h.

virtual USDPHYSICS_API ~UsdPhysicsDriveAPI ( )

virtual

Destructor.

Member Function Documentation

USDPHYSICS_API UsdSchemaType _GetSchemaType ( ) const

overrideprotected

Returns the type of schema this class belongs to.

See Also

UsdSchemaType

static USDPHYSICS_API UsdPhysicsDriveAPI 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 "PhysicsDriveAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is 'instance1', the token 'PhysicsDriveAPI:instance1' is added to 'apiSchemas'.

Returns

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

See Also

UsdPrim::GetAppliedSchemas()

UsdPrim::HasAPI()

UsdPrim::ApplyAPI()

UsdPrim::RemoveAPI()

USDPHYSICS_API UsdAttribute CreateDampingAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetDampingAttr(), 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.

USDPHYSICS_API UsdAttribute CreateMaxForceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMaxForceAttr(), 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.

USDPHYSICS_API UsdAttribute CreateStiffnessAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetStiffnessAttr(), 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.

USDPHYSICS_API UsdAttribute CreateTargetPositionAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetTargetPositionAttr(), 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.

USDPHYSICS_API UsdAttribute CreateTargetVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetTargetVelocityAttr(), 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.

USDPHYSICS_API UsdAttribute CreateTypeAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetTypeAttr(), 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 USDPHYSICS_API UsdPhysicsDriveAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a UsdPhysicsDriveAPI 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>.drive:name .

This is shorthand for the following:

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

static USDPHYSICS_API UsdPhysicsDriveAPI Get ( const UsdPrim &  prim, const TfToken &  name  )

static

Return a UsdPhysicsDriveAPI with name name holding the prim prim.

Shorthand for UsdPhysicsDriveAPI(prim, name);

USDPHYSICS_API UsdAttribute GetDampingAttr

(

)

const

Damping of the drive.

Unitless.

Declaration	float physics:damping = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute GetMaxForceAttr

(

)

const

Maximum force that can be applied to drive.

Units: if linear drive: mass*DIST_UNITS/time/time if angular drive: mass*DIST_UNITS*DIST_UNITS/time/time inf means not limited. Must be non-negative.

Declaration	float physics:maxForce = inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

TfToken GetName ( ) const

inline

Returns the name of this multiple-apply schema instance.

Definition at line 116 of file driveAPI.h.

static USDPHYSICS_API const TfTokenVector& GetSchemaAttributeNames ( bool  includeInherited = true, const TfToken  instanceName = TfToken()  )

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.

USDPHYSICS_API UsdAttribute GetStiffnessAttr

(

)

const

Stiffness of the drive.

Unitless.

Declaration	float physics:stiffness = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute GetTargetPositionAttr

(

)

const

Target value for position.

Units: if linear drive: distance if angular drive: degrees.

Declaration	float physics:targetPosition = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute GetTargetVelocityAttr

(

)

const

Target value for velocity.

Units: if linear drive: distance/time if angular drive: degrees/time.

Declaration	float physics:targetVelocity = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

USDPHYSICS_API UsdAttribute GetTypeAttr

(

)

const

Drive spring is for the acceleration at the joint (rather than the force).

Declaration	uniform token physics:type = "force"
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Variability	SdfVariabilityUniform
Allowed Values	force, acceleration

static USDPHYSICS_API bool IsPhysicsDriveAPIPath ( const SdfPath &  path, TfToken *  name  )

static

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

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

static USDPHYSICS_API bool IsSchemaPropertyBaseName ( const TfToken &  baseName )

static

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

Member Data Documentation

const UsdSchemaType schemaType = UsdSchemaType::MultipleApplyAPI

static

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

See Also

UsdSchemaType

Definition at line 76 of file driveAPI.h.

---

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

• W:/919a5455eee1e83c/src/usdPhysics/driveAPI.h