Defines explicit mass properties (mass, density, inertia etc.). More...
Inherits UsdAPISchemaBase.
Public Member Functions | |
UsdPhysicsMassAPI (const UsdPrim &prim=UsdPrim()) | |
Construct a UsdPhysicsMassAPI on UsdPrim prim . More... | |
UsdPhysicsMassAPI (const UsdSchemaBase &schemaObj) | |
Construct a UsdPhysicsMassAPI on the prim held by schemaObj . More... | |
virtual USDPHYSICS_API | ~UsdPhysicsMassAPI () |
Destructor. More... | |
USDPHYSICS_API UsdAttribute | GetMassAttr () const |
If non-zero, directly specifies the mass of the object. More... | |
USDPHYSICS_API UsdAttribute | CreateMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetMassAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetDensityAttr () const |
If non-zero, specifies the density of the object. More... | |
USDPHYSICS_API UsdAttribute | CreateDensityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetDensityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetCenterOfMassAttr () const |
Center of mass in the prim's local space. More... | |
USDPHYSICS_API UsdAttribute | CreateCenterOfMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetCenterOfMassAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetDiagonalInertiaAttr () const |
If non-zero, specifies diagonalized inertia tensor along the principal axes. More... | |
USDPHYSICS_API UsdAttribute | CreateDiagonalInertiaAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetDiagonalInertiaAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
USDPHYSICS_API UsdAttribute | GetPrincipalAxesAttr () const |
Orientation of the inertia tensor's principal axes in the prim's local space. More... | |
USDPHYSICS_API UsdAttribute | CreatePrincipalAxesAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetPrincipalAxesAttr(), 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 UsdPhysicsMassAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a UsdPhysicsMassAPI holding the prim adhering to this schema at path on stage . More... | |
static USDPHYSICS_API UsdPhysicsMassAPI | 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 |
Defines explicit mass properties (mass, density, inertia etc.).
MassAPI can be applied to any object that has a PhysicsCollisionAPI or a PhysicsRigidBodyAPI.
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inlineexplicit |
Construct a UsdPhysicsMassAPI on UsdPrim prim
.
Equivalent to UsdPhysicsMassAPI::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 UsdPhysicsMassAPI on the prim held by schemaObj
.
Should be preferred over UsdPhysicsMassAPI(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.
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static |
Applies this single-apply API schema to the given prim
.
This information is stored by adding "PhysicsMassAPI" to the token-valued, listOp metadata apiSchemas on the prim.
USDPHYSICS_API UsdAttribute CreateCenterOfMassAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetCenterOfMassAttr(), 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 CreateDensityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetDensityAttr(), 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 CreateDiagonalInertiaAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetDiagonalInertiaAttr(), 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 CreateMassAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetMassAttr(), 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 CreatePrincipalAxesAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetPrincipalAxesAttr(), 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 |
Return a UsdPhysicsMassAPI 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 UsdAttribute GetCenterOfMassAttr | ( | ) | const |
Center of mass in the prim's local space.
Units: distance.
Declaration | point3f physics:centerOfMass = (-inf, -inf, -inf) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Point3f |
USDPHYSICS_API UsdAttribute GetDensityAttr | ( | ) | const |
If non-zero, specifies the density of the object.
In the context of rigid body physics, density indirectly results in setting mass via (mass = density x volume of the object). How the volume is computed is up to implementation of the physics system. It is generally computed from the collision approximation rather than the graphical mesh. In the case where both density and mass are specified for the same object, mass has precedence over density. Unlike mass, child's prim's density overrides parent prim's density as it is accumulative. Note that density of a collisionAPI can be also alternatively set through a PhysicsMaterialAPI. The material density has the weakest precedence in density definition. Note if density is 0.0 it is ignored. Units: mass/distance/distance/distance.
Declaration | float physics:density = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
USDPHYSICS_API UsdAttribute GetDiagonalInertiaAttr | ( | ) | const |
If non-zero, specifies diagonalized inertia tensor along the principal axes.
Note if diagonalInertial is (0.0, 0.0, 0.0) it is ignored. Units: mass*distance*distance.
Declaration | float3 physics:diagonalInertia = (0, 0, 0) |
C++ Type | GfVec3f |
Usd Type | SdfValueTypeNames->Float3 |
USDPHYSICS_API UsdAttribute GetMassAttr | ( | ) | const |
If non-zero, directly specifies the mass of the object.
Note that any child prim can also have a mass when they apply massAPI. In this case, the precedence rule is 'parent mass overrides the child's'. This may come as counter-intuitive, but mass is a computed quantity and in general not accumulative. For example, if a parent has mass of 10, and one of two children has mass of 20, allowing child's mass to override its parent results in a mass of -10 for the other child. Note if mass is 0.0 it is ignored. Units: mass.
Declaration | float physics:mass = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
USDPHYSICS_API UsdAttribute GetPrincipalAxesAttr | ( | ) | const |
Orientation of the inertia tensor's principal axes in the prim's local space.
Declaration | quatf physics:principalAxes = (0, 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 |