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rigidBodyAPI.h
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24 #ifndef USDPHYSICS_GENERATED_RIGIDBODYAPI_H
25 #define USDPHYSICS_GENERATED_RIGIDBODYAPI_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 // PHYSICSRIGIDBODYAPI //
51 // -------------------------------------------------------------------------- //
52 
60 class UsdPhysicsRigidBodyAPI : public UsdAPISchemaBase
61 {
62 public:
66  static const UsdSchemaType schemaType = UsdSchemaType::SingleApplyAPI;
67 
72  explicit UsdPhysicsRigidBodyAPI(const UsdPrim& prim=UsdPrim())
73  : UsdAPISchemaBase(prim)
74  {
75  }
76 
80  explicit UsdPhysicsRigidBodyAPI(const UsdSchemaBase& schemaObj)
81  : UsdAPISchemaBase(schemaObj)
82  {
83  }
84 
86  USDPHYSICS_API
87  virtual ~UsdPhysicsRigidBodyAPI();
88 
92  USDPHYSICS_API
93  static const TfTokenVector &
94  GetSchemaAttributeNames(bool includeInherited=true);
95 
105  USDPHYSICS_API
107  Get(const UsdStagePtr &stage, const SdfPath &path);
108 
109 
124  USDPHYSICS_API
125  static UsdPhysicsRigidBodyAPI
126  Apply(const UsdPrim &prim);
127 
128 protected:
132  USDPHYSICS_API
133  UsdSchemaType _GetSchemaType() const override;
134 
135 private:
136  // needs to invoke _GetStaticTfType.
137  friend class UsdSchemaRegistry;
138  USDPHYSICS_API
139  static const TfType &_GetStaticTfType();
140 
141  static bool _IsTypedSchema();
142 
143  // override SchemaBase virtuals.
144  USDPHYSICS_API
145  const TfType &_GetTfType() const override;
146 
147 public:
148  // --------------------------------------------------------------------- //
149  // RIGIDBODYENABLED
150  // --------------------------------------------------------------------- //
158  USDPHYSICS_API
159  UsdAttribute GetRigidBodyEnabledAttr() const;
160 
166  USDPHYSICS_API
167  UsdAttribute CreateRigidBodyEnabledAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
168 
169 public:
170  // --------------------------------------------------------------------- //
171  // KINEMATICENABLED
172  // --------------------------------------------------------------------- //
183  USDPHYSICS_API
184  UsdAttribute GetKinematicEnabledAttr() const;
185 
191  USDPHYSICS_API
192  UsdAttribute CreateKinematicEnabledAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
193 
194 public:
195  // --------------------------------------------------------------------- //
196  // STARTSASLEEP
197  // --------------------------------------------------------------------- //
206  USDPHYSICS_API
207  UsdAttribute GetStartsAsleepAttr() const;
208 
214  USDPHYSICS_API
215  UsdAttribute CreateStartsAsleepAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
216 
217 public:
218  // --------------------------------------------------------------------- //
219  // VELOCITY
220  // --------------------------------------------------------------------- //
229  USDPHYSICS_API
230  UsdAttribute GetVelocityAttr() const;
231 
237  USDPHYSICS_API
238  UsdAttribute CreateVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
239 
240 public:
241  // --------------------------------------------------------------------- //
242  // ANGULARVELOCITY
243  // --------------------------------------------------------------------- //
252  USDPHYSICS_API
253  UsdAttribute GetAngularVelocityAttr() const;
254 
260  USDPHYSICS_API
261  UsdAttribute CreateAngularVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
262 
263 public:
264  // --------------------------------------------------------------------- //
265  // SIMULATIONOWNER
266  // --------------------------------------------------------------------- //
271  USDPHYSICS_API
272  UsdRelationship GetSimulationOwnerRel() const;
273 
276  USDPHYSICS_API
277  UsdRelationship CreateSimulationOwnerRel() const;
278 
279 public:
280  // ===================================================================== //
281  // Feel free to add custom code below this line, it will be preserved by
282  // the code generator.
283  //
284  // Just remember to:
285  // - Close the class declaration with };
286  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
287  // - Close the include guard with #endif
288  // ===================================================================== //
289  // --(BEGIN CUSTOM CODE)--
290 };
291 
292 PXR_NAMESPACE_CLOSE_SCOPE
293 
294 #endif
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...
Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a si...
Definition: rigidBodyAPI.h:60
USDPHYSICS_API UsdRelationship CreateSimulationOwnerRel() const
See GetSimulationOwnerRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
USDPHYSICS_API UsdAttribute GetStartsAsleepAttr() const
Determines if the body is asleep when the simulation starts.
USDPHYSICS_API UsdSchemaType _GetSchemaType() const override
Returns the type of schema this class belongs to.
virtual USDPHYSICS_API ~UsdPhysicsRigidBodyAPI()
Destructor.
static USDPHYSICS_API UsdPhysicsRigidBodyAPI Apply(const UsdPrim &prim)
Applies this single-apply API schema to the given prim.
USDPHYSICS_API UsdAttribute GetVelocityAttr() const
Linear velocity in the same space as the node's xform.
USDPHYSICS_API UsdAttribute CreateAngularVelocityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetAngularVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
USDPHYSICS_API UsdRelationship GetSimulationOwnerRel() const
Single PhysicsScene that will simulate this body.
UsdPhysicsRigidBodyAPI(const UsdSchemaBase &schemaObj)
Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj .
Definition: rigidBodyAPI.h:80
USDPHYSICS_API UsdAttribute GetRigidBodyEnabledAttr() const
Determines if this PhysicsRigidBodyAPI is enabled.
USDPHYSICS_API UsdAttribute GetKinematicEnabledAttr() const
Determines whether the body is kinematic or not.
static USDPHYSICS_API UsdPhysicsRigidBodyAPI Get(const UsdStagePtr &stage, const SdfPath &path)
Return a UsdPhysicsRigidBodyAPI holding the prim adhering to this schema at path on stage...
USDPHYSICS_API UsdAttribute CreateRigidBodyEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetRigidBodyEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
UsdPhysicsRigidBodyAPI(const UsdPrim &prim=UsdPrim())
Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim .
Definition: rigidBodyAPI.h:72
USDPHYSICS_API UsdAttribute CreateStartsAsleepAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetStartsAsleepAttr(), 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: rigidBodyAPI.h:66
USDPHYSICS_API UsdAttribute CreateKinematicEnabledAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetKinematicEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create...
USDPHYSICS_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...
USDPHYSICS_API UsdAttribute GetAngularVelocityAttr() const
Angular velocity in the same space as the node's xform.