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driveAPI.h
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2 // Copyright 2016 Pixar
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4 // Licensed under the Apache License, Version 2.0 (the "Apache License")
5 // with the following modification; you may not use this file except in
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24 #ifndef USDPHYSICS_GENERATED_DRIVEAPI_H
25 #define USDPHYSICS_GENERATED_DRIVEAPI_H
26 
28 
29 #include "pxr/pxr.h"
30 #include "usdPhysics/api.h"
31 #include "pxr/usd/usd/apiSchemaBase.h"
32 #include "pxr/usd/usd/prim.h"
33 #include "pxr/usd/usd/stage.h"
34 #include "usdPhysics/tokens.h"
35 
36 #include "pxr/base/vt/value.h"
37 
38 #include "pxr/base/gf/vec3d.h"
39 #include "pxr/base/gf/vec3f.h"
40 #include "pxr/base/gf/matrix4d.h"
41 
42 #include "pxr/base/tf/token.h"
43 #include "pxr/base/tf/type.h"
44 
45 PXR_NAMESPACE_OPEN_SCOPE
46 
47 class SdfAssetPath;
48 
49 // -------------------------------------------------------------------------- //
50 // PHYSICSDRIVEAPI //
51 // -------------------------------------------------------------------------- //
52 
70 class UsdPhysicsDriveAPI : public UsdAPISchemaBase
71 {
72 public:
76  static const UsdSchemaType schemaType = UsdSchemaType::MultipleApplyAPI;
77 
88  const UsdPrim& prim=UsdPrim(), const TfToken &name=TfToken())
89  : UsdAPISchemaBase(prim, /*instanceName*/ name)
90  { }
91 
97  const UsdSchemaBase& schemaObj, const TfToken &name)
98  : UsdAPISchemaBase(schemaObj, /*instanceName*/ name)
99  { }
100 
102  USDPHYSICS_API
103  virtual ~UsdPhysicsDriveAPI();
104 
110  USDPHYSICS_API
111  static const TfTokenVector &
113  bool includeInherited=true, const TfToken instanceName=TfToken());
114 
116  TfToken GetName() const {
117  return _GetInstanceName();
118  }
119 
134  USDPHYSICS_API
135  static UsdPhysicsDriveAPI
136  Get(const UsdStagePtr &stage, const SdfPath &path);
137 
140  USDPHYSICS_API
141  static UsdPhysicsDriveAPI
142  Get(const UsdPrim &prim, const TfToken &name);
143 
146  USDPHYSICS_API
147  static bool
148  IsSchemaPropertyBaseName(const TfToken &baseName);
149 
153  USDPHYSICS_API
154  static bool
155  IsPhysicsDriveAPIPath(const SdfPath &path, TfToken *name);
156 
175  USDPHYSICS_API
176  static UsdPhysicsDriveAPI
177  Apply(const UsdPrim &prim, const TfToken &name);
178 
179 protected:
183  USDPHYSICS_API
184  UsdSchemaType _GetSchemaType() const override;
185 
186 private:
187  // needs to invoke _GetStaticTfType.
188  friend class UsdSchemaRegistry;
189  USDPHYSICS_API
190  static const TfType &_GetStaticTfType();
191 
192  static bool _IsTypedSchema();
193 
194  // override SchemaBase virtuals.
195  USDPHYSICS_API
196  const TfType &_GetTfType() const override;
197 
198 public:
199  // --------------------------------------------------------------------- //
200  // TYPE
201  // --------------------------------------------------------------------- //
212  USDPHYSICS_API
213  UsdAttribute GetTypeAttr() const;
214 
220  USDPHYSICS_API
221  UsdAttribute CreateTypeAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
222 
223 public:
224  // --------------------------------------------------------------------- //
225  // MAXFORCE
226  // --------------------------------------------------------------------- //
237  USDPHYSICS_API
238  UsdAttribute GetMaxForceAttr() const;
239 
245  USDPHYSICS_API
246  UsdAttribute CreateMaxForceAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
247 
248 public:
249  // --------------------------------------------------------------------- //
250  // TARGETPOSITION
251  // --------------------------------------------------------------------- //
261  USDPHYSICS_API
262  UsdAttribute GetTargetPositionAttr() const;
263 
269  USDPHYSICS_API
270  UsdAttribute CreateTargetPositionAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
271 
272 public:
273  // --------------------------------------------------------------------- //
274  // TARGETVELOCITY
275  // --------------------------------------------------------------------- //
285  USDPHYSICS_API
286  UsdAttribute GetTargetVelocityAttr() const;
287 
293  USDPHYSICS_API
294  UsdAttribute CreateTargetVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
295 
296 public:
297  // --------------------------------------------------------------------- //
298  // DAMPING
299  // --------------------------------------------------------------------- //
307  USDPHYSICS_API
308  UsdAttribute GetDampingAttr() const;
309 
315  USDPHYSICS_API
316  UsdAttribute CreateDampingAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
317 
318 public:
319  // --------------------------------------------------------------------- //
320  // STIFFNESS
321  // --------------------------------------------------------------------- //
329  USDPHYSICS_API
330  UsdAttribute GetStiffnessAttr() const;
331 
337  USDPHYSICS_API
338  UsdAttribute CreateStiffnessAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
339 
340 public:
341  // ===================================================================== //
342  // Feel free to add custom code below this line, it will be preserved by
343  // the code generator.
344  //
345  // Just remember to:
346  // - Close the class declaration with };
347  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
348  // - Close the include guard with #endif
349  // ===================================================================== //
350  // --(BEGIN CUSTOM CODE)--
351 };
352 
353 PXR_NAMESPACE_CLOSE_SCOPE
354 
355 #endif
UsdPhysicsDriveAPI(const UsdSchemaBase &schemaObj, const TfToken &name)
Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name.
Definition: driveAPI.h:96
USDPHYSICS_API UsdAttribute GetTargetVelocityAttr() const
Target value for velocity.
USDPHYSICS_API UsdAttribute GetTypeAttr() const
Drive spring is for the acceleration at the joint (rather than the force).
USDPHYSICS_API UsdAttribute GetDampingAttr() const
Damping of the drive.
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 cl...
static USDPHYSICS_API bool IsPhysicsDriveAPIPath(const SdfPath &path, TfToken *name)
Checks if the given path path is of an API schema of type PhysicsDriveAPI.
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...
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...
USDPHYSICS_API UsdAttribute GetStiffnessAttr() const
Stiffness of the drive.
The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target...
Definition: driveAPI.h:70
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.
USDPHYSICS_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
TfToken GetName() const
Returns the name of this multiple-apply schema instance.
Definition: driveAPI.h:116
virtual USDPHYSICS_API ~UsdPhysicsDriveAPI()
Destructor.
USDPHYSICS_API UsdAttribute GetTargetPositionAttr() const
Target value for position.
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...
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.
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.
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...
static const UsdSchemaType schemaType
Compile time constant representing what kind of schema this class is.
Definition: driveAPI.h:76
USDPHYSICS_API UsdAttribute GetMaxForceAttr() const
Maximum force that can be applied to drive.
UsdPhysicsDriveAPI(const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name .
Definition: driveAPI.h:87
static USDPHYSICS_API bool IsSchemaPropertyBaseName(const TfToken &baseName)
Checks if the given name baseName is the base name of a property of PhysicsDriveAPI.
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...