All Classes Files Functions Variables Pages
physxArticulationAPI.h
Go to the documentation of this file.
1 //
2 // Copyright 2016 Pixar
3 //
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
6 // compliance with the Apache License and the following modification to it:
7 // Section 6. Trademarks. is deleted and replaced with:
8 //
9 // 6. Trademarks. This License does not grant permission to use the trade
10 // names, trademarks, service marks, or product names of the Licensor
11 // and its affiliates, except as required to comply with Section 4(c) of
12 // the License and to reproduce the content of the NOTICE file.
13 //
14 // You may obtain a copy of the Apache License at
15 //
16 // http://www.apache.org/licenses/LICENSE-2.0
17 //
18 // Unless required by applicable law or agreed to in writing, software
19 // distributed under the Apache License with the above modification is
20 // distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
21 // KIND, either express or implied. See the Apache License for the specific
22 // language governing permissions and limitations under the Apache License.
23 //
24 #ifndef PHYSXSCHEMA_GENERATED_PHYSXARTICULATIONAPI_H
25 #define PHYSXSCHEMA_GENERATED_PHYSXARTICULATIONAPI_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 // PHYSXARTICULATIONAPI //
51 // -------------------------------------------------------------------------- //
52 
57 class PhysxSchemaPhysxArticulationAPI : public UsdAPISchemaBase
58 {
59 public:
63  static const UsdSchemaType schemaType = UsdSchemaType::SingleApplyAPI;
64 
69  explicit PhysxSchemaPhysxArticulationAPI(const UsdPrim& prim=UsdPrim())
70  : UsdAPISchemaBase(prim)
71  {
72  }
73 
77  explicit PhysxSchemaPhysxArticulationAPI(const UsdSchemaBase& schemaObj)
78  : UsdAPISchemaBase(schemaObj)
79  {
80  }
81 
83  PHYSXSCHEMA_API
85 
89  PHYSXSCHEMA_API
90  static const TfTokenVector &
91  GetSchemaAttributeNames(bool includeInherited=true);
92 
102  PHYSXSCHEMA_API
104  Get(const UsdStagePtr &stage, const SdfPath &path);
105 
106 
121  PHYSXSCHEMA_API
123  Apply(const UsdPrim &prim);
124 
125 protected:
129  PHYSXSCHEMA_API
130  UsdSchemaType _GetSchemaType() const override;
131 
132 private:
133  // needs to invoke _GetStaticTfType.
134  friend class UsdSchemaRegistry;
135  PHYSXSCHEMA_API
136  static const TfType &_GetStaticTfType();
137 
138  static bool _IsTypedSchema();
139 
140  // override SchemaBase virtuals.
141  PHYSXSCHEMA_API
142  const TfType &_GetTfType() const override;
143 
144 public:
145  // --------------------------------------------------------------------- //
146  // ARTICULATIONENABLED
147  // --------------------------------------------------------------------- //
155  PHYSXSCHEMA_API
156  UsdAttribute GetArticulationEnabledAttr() const;
157 
163  PHYSXSCHEMA_API
164  UsdAttribute CreateArticulationEnabledAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
165 
166 public:
167  // --------------------------------------------------------------------- //
168  // SOLVERPOSITIONITERATIONCOUNT
169  // --------------------------------------------------------------------- //
177  PHYSXSCHEMA_API
178  UsdAttribute GetSolverPositionIterationCountAttr() const;
179 
185  PHYSXSCHEMA_API
186  UsdAttribute CreateSolverPositionIterationCountAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
187 
188 public:
189  // --------------------------------------------------------------------- //
190  // SOLVERVELOCITYITERATIONCOUNT
191  // --------------------------------------------------------------------- //
199  PHYSXSCHEMA_API
200  UsdAttribute GetSolverVelocityIterationCountAttr() const;
201 
207  PHYSXSCHEMA_API
208  UsdAttribute CreateSolverVelocityIterationCountAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
209 
210 public:
211  // --------------------------------------------------------------------- //
212  // SLEEPTHRESHOLD
213  // --------------------------------------------------------------------- //
224  PHYSXSCHEMA_API
225  UsdAttribute GetSleepThresholdAttr() const;
226 
232  PHYSXSCHEMA_API
233  UsdAttribute CreateSleepThresholdAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
234 
235 public:
236  // --------------------------------------------------------------------- //
237  // STABILIZATIONTHRESHOLD
238  // --------------------------------------------------------------------- //
249  PHYSXSCHEMA_API
250  UsdAttribute GetStabilizationThresholdAttr() const;
251 
257  PHYSXSCHEMA_API
258  UsdAttribute CreateStabilizationThresholdAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
259 
260 public:
261  // --------------------------------------------------------------------- //
262  // ENABLEDSELFCOLLISIONS
263  // --------------------------------------------------------------------- //
271  PHYSXSCHEMA_API
272  UsdAttribute GetEnabledSelfCollisionsAttr() const;
273 
279  PHYSXSCHEMA_API
280  UsdAttribute CreateEnabledSelfCollisionsAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
281 
282 public:
283  // ===================================================================== //
284  // Feel free to add custom code below this line, it will be preserved by
285  // the code generator.
286  //
287  // Just remember to:
288  // - Close the class declaration with };
289  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
290  // - Close the include guard with #endif
291  // ===================================================================== //
292  // --(BEGIN CUSTOM CODE)--
293 };
294 
295 PXR_NAMESPACE_CLOSE_SCOPE
296 
297 #endif
PHYSXSCHEMA_API UsdAttribute GetEnabledSelfCollisionsAttr() const
Boolean defining whether self collisions should be enabled or disabled.
PHYSXSCHEMA_API UsdAttribute CreateEnabledSelfCollisionsAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetEnabledSelfCollisionsAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateSolverPositionIterationCountAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSolverPositionIterationCountAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs...
PHYSXSCHEMA_API UsdAttribute GetStabilizationThresholdAttr() const
The mass-normalized kinetic energy threshold below which the articulation may participate in stabiliz...
PHYSXSCHEMA_API UsdAttribute CreateSleepThresholdAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSleepThresholdAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PHYSXSCHEMA_API UsdAttribute CreateStabilizationThresholdAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetStabilizationThresholdAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Creat...
PHYSXSCHEMA_API UsdAttribute GetArticulationEnabledAttr() const
Boolean defining whether articulation is enabled or disabled.
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationAPI Apply(const UsdPrim &prim)
Applies this single-apply API schema to the given prim.
static const UsdSchemaType schemaType
Compile time constant representing what kind of schema this class is.
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationAPI Get(const UsdStagePtr &stage, const SdfPath &path)
Return a PhysxSchemaPhysxArticulationAPI holding the prim adhering to this schema at path on stage...
PhysX articulation extended parameters.
PHYSXSCHEMA_API UsdAttribute GetSolverVelocityIterationCountAttr() const
Solver velocity iteration counts for the body.
PhysxSchemaPhysxArticulationAPI(const UsdPrim &prim=UsdPrim())
Construct a PhysxSchemaPhysxArticulationAPI on UsdPrim prim .
virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxArticulationAPI()
Destructor.
PHYSXSCHEMA_API UsdAttribute GetSolverPositionIterationCountAttr() const
Solver position iteration counts for the body.
PHYSXSCHEMA_API UsdAttribute CreateArticulationEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetArticulationEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
PhysxSchemaPhysxArticulationAPI(const UsdSchemaBase &schemaObj)
Construct a PhysxSchemaPhysxArticulationAPI on the prim held by schemaObj .
PHYSXSCHEMA_API UsdAttribute CreateSolverVelocityIterationCountAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetSolverVelocityIterationCountAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs...
PHYSXSCHEMA_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
static PHYSXSCHEMA_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...
PHYSXSCHEMA_API UsdAttribute GetSleepThresholdAttr() const
Mass-normalized kinetic energy threshold below which the articulation may go to sleep.