24 #ifndef USDPHYSICS_GENERATED_JOINT_H
25 #define USDPHYSICS_GENERATED_JOINT_H
30 #include "usdPhysics/api.h"
31 #include "pxr/usd/usdGeom/imageable.h"
32 #include "pxr/usd/usd/prim.h"
33 #include "pxr/usd/usd/stage.h"
36 #include "pxr/base/vt/value.h"
38 #include "pxr/base/gf/vec3d.h"
39 #include "pxr/base/gf/vec3f.h"
40 #include "pxr/base/gf/matrix4d.h"
42 #include "pxr/base/tf/token.h"
43 #include "pxr/base/tf/type.h"
45 PXR_NAMESPACE_OPEN_SCOPE
68 static const UsdSchemaType
schemaType = UsdSchemaType::ConcreteTyped;
75 : UsdGeomImageable(prim)
83 : UsdGeomImageable(schemaObj)
95 static const TfTokenVector &
109 Get(
const UsdStagePtr &stage,
const SdfPath &path);
135 Define(
const UsdStagePtr &stage,
const SdfPath &path);
146 friend class UsdSchemaRegistry;
148 static const TfType &_GetStaticTfType();
150 static bool _IsTypedSchema();
154 const TfType &_GetTfType()
const override;
176 UsdAttribute
CreateLocalPos0Attr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
198 UsdAttribute
CreateLocalRot0Attr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
220 UsdAttribute
CreateLocalPos1Attr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
242 UsdAttribute
CreateLocalRot1Attr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
264 UsdAttribute
CreateJointEnabledAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
333 UsdAttribute
CreateBreakForceAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
357 UsdAttribute
CreateBreakTorqueAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
400 PXR_NAMESPACE_CLOSE_SCOPE
USDPHYSICS_API UsdAttribute GetLocalRot1Attr() const
Relative orientation of the joint frame to body1's frame.
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 cl...
A joint constrains the movement of rigid bodies.
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...
UsdPhysicsJoint(const UsdPrim &prim=UsdPrim())
Construct a UsdPhysicsJoint on UsdPrim prim .
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...
USDPHYSICS_API UsdAttribute GetLocalPos0Attr() const
Relative position of the joint frame to body0's frame.
USDPHYSICS_API UsdRelationship GetBody0Rel() const
Relationship to any UsdGeomXformable.
USDPHYSICS_API UsdAttribute GetExcludeFromArticulationAttr() const
Determines if the joint can be included in an Articulation.
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...
USDPHYSICS_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
USDPHYSICS_API UsdAttribute GetLocalPos1Attr() const
Relative position of the joint frame to body1's frame.
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...
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.
USDPHYSICS_API UsdRelationship CreateBody0Rel() const
See GetBody0Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
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...
USDPHYSICS_API UsdAttribute GetLocalRot0Attr() const
Relative orientation of the joint frame to body0's frame.
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...
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...
USDPHYSICS_API UsdRelationship GetBody1Rel() const
Relationship to any UsdGeomXformable.
USDPHYSICS_API UsdAttribute GetCollisionEnabledAttr() const
Determines if the jointed subtrees should collide or not.
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...
static const UsdSchemaType schemaType
Compile time constant representing what kind of schema this class is.
USDPHYSICS_API UsdRelationship CreateBody1Rel() const
See GetBody1Rel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.
USDPHYSICS_API UsdAttribute GetBreakTorqueAttr() const
Joint break torque.
USDPHYSICS_API UsdAttribute GetJointEnabledAttr() const
Determines if the joint is enabled.
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::IsDefin...
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 Crea...
virtual USDPHYSICS_API ~UsdPhysicsJoint()
Destructor.
USDPHYSICS_API UsdAttribute GetBreakForceAttr() const
Joint break force.
UsdPhysicsJoint(const UsdSchemaBase &schemaObj)
Construct a UsdPhysicsJoint on the prim held by schemaObj .