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jointStateAPI.h
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2 // Copyright 2016 Pixar
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24 #ifndef PHYSXSCHEMA_GENERATED_JOINTSTATEAPI_H
25 #define PHYSXSCHEMA_GENERATED_JOINTSTATEAPI_H
26 
28 
29 #include "pxr/pxr.h"
30 #include ".//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 ".//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 // PHYSICSJOINTSTATEAPI //
51 // -------------------------------------------------------------------------- //
52 
63 class PhysxSchemaJointStateAPI : public UsdAPISchemaBase
64 {
65 public:
69  static const UsdSchemaType schemaType = UsdSchemaType::MultipleApplyAPI;
70 
81  const UsdPrim& prim=UsdPrim(), const TfToken &name=TfToken())
82  : UsdAPISchemaBase(prim, /*instanceName*/ name)
83  { }
84 
90  const UsdSchemaBase& schemaObj, const TfToken &name)
91  : UsdAPISchemaBase(schemaObj, /*instanceName*/ name)
92  { }
93 
95  PHYSXSCHEMA_API
96  virtual ~PhysxSchemaJointStateAPI();
97 
103  PHYSXSCHEMA_API
104  static const TfTokenVector &
106  bool includeInherited=true, const TfToken instanceName=TfToken());
107 
109  TfToken GetName() const {
110  return _GetInstanceName();
111  }
112 
127  PHYSXSCHEMA_API
129  Get(const UsdStagePtr &stage, const SdfPath &path);
130 
133  PHYSXSCHEMA_API
135  Get(const UsdPrim &prim, const TfToken &name);
136 
139  PHYSXSCHEMA_API
140  static bool
141  IsSchemaPropertyBaseName(const TfToken &baseName);
142 
146  PHYSXSCHEMA_API
147  static bool
148  IsPhysicsJointStateAPIPath(const SdfPath &path, TfToken *name);
149 
168  PHYSXSCHEMA_API
170  Apply(const UsdPrim &prim, const TfToken &name);
171 
172 protected:
176  PHYSXSCHEMA_API
177  UsdSchemaType _GetSchemaType() const override;
178 
179 private:
180  // needs to invoke _GetStaticTfType.
181  friend class UsdSchemaRegistry;
182  PHYSXSCHEMA_API
183  static const TfType &_GetStaticTfType();
184 
185  static bool _IsTypedSchema();
186 
187  // override SchemaBase virtuals.
188  PHYSXSCHEMA_API
189  const TfType &_GetTfType() const override;
190 
191 public:
192  // --------------------------------------------------------------------- //
193  // POSITION
194  // --------------------------------------------------------------------- //
206  PHYSXSCHEMA_API
207  UsdAttribute GetPositionAttr() const;
208 
214  PHYSXSCHEMA_API
215  UsdAttribute CreatePositionAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
216 
217 public:
218  // --------------------------------------------------------------------- //
219  // VELOCITY
220  // --------------------------------------------------------------------- //
232  PHYSXSCHEMA_API
233  UsdAttribute GetVelocityAttr() const;
234 
240  PHYSXSCHEMA_API
241  UsdAttribute CreateVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
242 
243 public:
244  // ===================================================================== //
245  // Feel free to add custom code below this line, it will be preserved by
246  // the code generator.
247  //
248  // Just remember to:
249  // - Close the class declaration with };
250  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
251  // - Close the include guard with #endif
252  // ===================================================================== //
253  // --(BEGIN CUSTOM CODE)--
254 };
255 
256 PXR_NAMESPACE_CLOSE_SCOPE
257 
258 #endif
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.
Definition: jointStateAPI.h:69
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.
Definition: jointStateAPI.h:63
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 .
Definition: jointStateAPI.h:80
PhysxSchemaJointStateAPI(const UsdSchemaBase &schemaObj, const TfToken &name)
Construct a PhysxSchemaJointStateAPI on the prim held by schemaObj with name name.
Definition: jointStateAPI.h:89
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...