A joint constrains the movement of rigid bodies. More...
Public Member Functions | |
UsdPhysicsJoint (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsJoint on UsdPrim prim . More... | |
UsdPhysicsJoint (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsJoint on the prim held by schemaObj . More... | |
virtual USDPHYSICS_API | ~UsdPhysicsJoint () |
Destructor. More... | |
USDPHYSICS_API UsdAttribute | GetLocalPos0Attr () const |
Relative position of the joint frame to body0's frame. More... | |
USDPHYSICS_API UsdAttribute | CreateLocalPos0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetLocalPos0Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetLocalRot0Attr () const |
Relative orientation of the joint frame to body0's frame. More... | |
USDPHYSICS_API UsdAttribute | CreateLocalRot0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetLocalRot0Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetLocalPos1Attr () const |
Relative position of the joint frame to body1's frame. More... | |
USDPHYSICS_API UsdAttribute | CreateLocalPos1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetLocalPos1Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetLocalRot1Attr () const |
Relative orientation of the joint frame to body1's frame. More... | |
USDPHYSICS_API UsdAttribute | CreateLocalRot1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetLocalRot1Attr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetJointEnabledAttr () const |
Determines if the joint is enabled. More... | |
USDPHYSICS_API UsdAttribute | CreateJointEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetJointEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetCollisionEnabledAttr () const |
Determines if the jointed subtrees should collide or not. More... | |
USDPHYSICS_API UsdAttribute | CreateCollisionEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetCollisionEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetExcludeFromArticulationAttr () const |
Determines if the joint can be included in an Articulation. More... | |
USDPHYSICS_API UsdAttribute | CreateExcludeFromArticulationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetExcludeFromArticulationAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetBreakForceAttr () const |
Joint break force. More... | |
USDPHYSICS_API UsdAttribute | CreateBreakForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetBreakForceAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetBreakTorqueAttr () const |
Joint break torque. More... | |
USDPHYSICS_API UsdAttribute | CreateBreakTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetBreakTorqueAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdRelationship | GetBody0Rel () const |
Relationship to any UsdGeomXformable. More... | |
USDPHYSICS_API UsdRelationship | CreateBody0Rel () const |
See GetBody0Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdRelationship | GetBody1Rel () const |
Relationship to any UsdGeomXformable. More... | |
USDPHYSICS_API UsdRelationship | CreateBody1Rel () const |
See GetBody1Rel(), 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) |
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. More... | |
static USDPHYSICS_API UsdPhysicsJoint | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsJoint holding the prim adhering to this schema at path on stage . More... | |
static USDPHYSICS_API UsdPhysicsJoint | Define (const UsdStagePtr &stage, const SdfPath &path) |
Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage. More... | |
Static Public Attributes | |
static const UsdSchemaType | schemaType = UsdSchemaType::ConcreteTyped |
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 |
A joint constrains the movement of rigid bodies.
Joint can be created between two rigid bodies or between one rigid body and world. By default joint primitive defines a D6 joint where all degrees of freedom are free. Three linear and three angular degrees of freedom. Note that default behavior is to disable collision between jointed bodies.
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inlineexplicit |
Construct a UsdPhysicsJoint on UsdPrim prim
.
Equivalent to UsdPhysicsJoint::Get(prim.GetStage(), prim.GetPath()) for a valid prim
, but will not immediately throw an error for an invalid prim
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inlineexplicit |
Construct a UsdPhysicsJoint on the prim held by schemaObj
.
Should be preferred over UsdPhysicsJoint(schemaObj.GetPrim()), as it preserves SchemaBase state.
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virtual |
Destructor.
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overrideprotected |
Returns the type of schema this class belongs to.
USDPHYSICS_API UsdRelationship CreateBody0Rel | ( | ) | const |
See GetBody0Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
USDPHYSICS_API UsdRelationship CreateBody1Rel | ( | ) | const |
See GetBody1Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
USDPHYSICS_API UsdAttribute CreateBreakForceAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetBreakForceAttr(), 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 CreateBreakTorqueAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetBreakTorqueAttr(), 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 CreateCollisionEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetCollisionEnabledAttr(), 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 CreateExcludeFromArticulationAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetExcludeFromArticulationAttr(), 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 CreateJointEnabledAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetJointEnabledAttr(), 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 CreateLocalPos0Attr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetLocalPos0Attr(), 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 CreateLocalPos1Attr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetLocalPos1Attr(), 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 CreateLocalRot0Attr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetLocalRot0Attr(), 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 CreateLocalRot1Attr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetLocalRot1Attr(), 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
.
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static |
Attempt to ensure a UsdPrim adhering to this schema at path
is defined (according to UsdPrim::IsDefined()) on this stage.
If a prim adhering to this schema at path
is already defined on this stage, return that prim. Otherwise author an SdfPrimSpec with specifier == SdfSpecifierDef and this schema's prim type name for the prim at path
at the current EditTarget. Author SdfPrimSpec s with specifier
== SdfSpecifierDef and empty typeName at the current EditTarget for any nonexistent, or existing but not Defined ancestors.
The given path must be an absolute prim path that does not contain any variant selections.
If it is impossible to author any of the necessary PrimSpecs, (for example, in case path cannot map to the current UsdEditTarget's namespace) issue an error and return an invalid UsdPrim.
Note that this method may return a defined prim whose typeName does not specify this schema class, in case a stronger typeName opinion overrides the opinion at the current EditTarget.
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static |
Return a UsdPhysicsJoint 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:
USDPHYSICS_API UsdRelationship GetBody0Rel | ( | ) | const |
Relationship to any UsdGeomXformable.
USDPHYSICS_API UsdRelationship GetBody1Rel | ( | ) | const |
Relationship to any UsdGeomXformable.
USDPHYSICS_API UsdAttribute GetBreakForceAttr | ( | ) | const |
Joint break force.
If set, joint is to break when this force limit is reached. (Used for linear dofs.) Units: mass * distance / time / time
Declaration | float physics:breakForce = inf |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
USDPHYSICS_API UsdAttribute GetBreakTorqueAttr | ( | ) | const |
Joint break torque.
If set, joint is to break when this torque limit is reached. (Used for angular dofs.) Units: mass * distance * distance / time / time
Declaration | float physics:breakTorque = inf |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
USDPHYSICS_API UsdAttribute GetCollisionEnabledAttr | ( | ) | const |
Determines if the jointed subtrees should collide or not.
Declaration | bool physics:collisionEnabled = 0 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
USDPHYSICS_API UsdAttribute GetExcludeFromArticulationAttr | ( | ) | const |
Determines if the joint can be included in an Articulation.
Declaration | uniform bool physics:excludeFromArticulation = 0 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
Variability | SdfVariabilityUniform |
USDPHYSICS_API UsdAttribute GetJointEnabledAttr | ( | ) | const |
Determines if the joint is enabled.
Declaration | bool physics:jointEnabled = 1 |
C++ Type | bool |
Usd Type | SdfValueTypeNames->Bool |
USDPHYSICS_API UsdAttribute GetLocalPos0Attr | ( | ) | const |
Relative position of the joint frame to body0's frame.
Declaration | point3f physics:localPos0 = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Point3f |
USDPHYSICS_API UsdAttribute GetLocalPos1Attr | ( | ) | const |
Relative position of the joint frame to body1's frame.
Declaration | point3f physics:localPos1 = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Point3f |
USDPHYSICS_API UsdAttribute GetLocalRot0Attr | ( | ) | const |
Relative orientation of the joint frame to body0's frame.
Declaration | quatf physics:localRot0 = (1, 0, 0, 0) |
C++ Type | GfQuatf |
Usd Type | SdfValueTypeNames->Quatf |
USDPHYSICS_API UsdAttribute GetLocalRot1Attr | ( | ) | const |
Relative orientation of the joint frame to body1's frame.
Declaration | quatf physics:localRot1 = (1, 0, 0, 0) |
C++ Type | GfQuatf |
Usd Type | SdfValueTypeNames->Quatf |
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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 |