24 #ifndef PHYSXSCHEMA_GENERATED_JOINTSTATEAPI_H
25 #define PHYSXSCHEMA_GENERATED_JOINTSTATEAPI_H
31 #include "pxr/usd/usd/apiSchemaBase.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
69 static const UsdSchemaType
schemaType = UsdSchemaType::MultipleApplyAPI;
81 const UsdPrim& prim=UsdPrim(),
const TfToken &name=TfToken())
82 : UsdAPISchemaBase(prim, name)
90 const UsdSchemaBase& schemaObj,
const TfToken &name)
91 : UsdAPISchemaBase(schemaObj, name)
104 static const TfTokenVector &
106 bool includeInherited=
true,
const TfToken instanceName=TfToken());
110 return _GetInstanceName();
129 Get(
const UsdStagePtr &stage,
const SdfPath &path);
135 Get(
const UsdPrim &prim,
const TfToken &name);
170 Apply(
const UsdPrim &prim,
const TfToken &name);
181 friend class UsdSchemaRegistry;
183 static const TfType &_GetStaticTfType();
185 static bool _IsTypedSchema();
189 const TfType &_GetTfType()
const override;
215 UsdAttribute
CreatePositionAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
241 UsdAttribute
CreateVelocityAttr(VtValue
const &defaultValue = VtValue(),
bool writeSparsely=
false)
const;
256 PXR_NAMESPACE_CLOSE_SCOPE
static PHYSXSCHEMA_API bool IsPhysicsJointStateAPIPath(const SdfPath &path, TfToken *name)
Checks if the given path path is of an API schema of type PhysicsJointStateAPI.
PHYSXSCHEMA_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
static const UsdSchemaType schemaType
Compile time constant representing what kind of schema this class is.
PHYSXSCHEMA_API UsdAttribute GetVelocityAttr() const
Joint state velocity defines the relative velocity between joint body0 and joint body1.
virtual PHYSXSCHEMA_API ~PhysxSchemaJointStateAPI()
Destructor.
static PHYSXSCHEMA_API bool IsSchemaPropertyBaseName(const TfToken &baseName)
Checks if the given name baseName is the base name of a property of PhysicsJointStateAPI.
The PhysicsJointStateAPI is applied to a joint primitive (i.e.
static PHYSXSCHEMA_API PhysxSchemaJointStateAPI Apply(const UsdPrim &prim, const TfToken &name)
Applies this multiple-apply API schema to the given prim along with the given instance name...
PHYSXSCHEMA_API UsdAttribute CreateVelocityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute GetPositionAttr() const
Joint state position defines the relative difference between joint body0 frame and joint body1 frame ...
static PHYSXSCHEMA_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...
PHYSXSCHEMA_API UsdAttribute CreatePositionAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetPositionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PhysxSchemaJointStateAPI(const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
Construct a PhysxSchemaJointStateAPI on UsdPrim prim with name name .
PhysxSchemaJointStateAPI(const UsdSchemaBase &schemaObj, const TfToken &name)
Construct a PhysxSchemaJointStateAPI on the prim held by schemaObj with name name.
TfToken GetName() const
Returns the name of this multiple-apply schema instance.
static PHYSXSCHEMA_API PhysxSchemaJointStateAPI Get(const UsdStagePtr &stage, const SdfPath &path)
Return a PhysxSchemaJointStateAPI holding the prim adhering to this schema at path on stage...