The PhysicsJointStateAPI is applied to a joint primitive (i.e. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaJointStateAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
	Construct a PhysxSchemaJointStateAPI on UsdPrim `prim` with name `name` . More...

	PhysxSchemaJointStateAPI (const UsdSchemaBase &schemaObj, const TfToken &name)
	Construct a PhysxSchemaJointStateAPI on the prim held by `schemaObj` with name `name`. More...

virtual PHYSXSCHEMA_API	~PhysxSchemaJointStateAPI ()
	Destructor. More...

TfToken	GetName () const
	Returns the name of this multiple-apply schema instance. More...

PHYSXSCHEMA_API UsdAttribute	GetPositionAttr () const
	Joint state position defines the relative difference between joint body0 frame and joint body1 frame in world frame. More...

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. More...

PHYSXSCHEMA_API UsdAttribute	GetVelocityAttr () const
	Joint state velocity defines the relative velocity between joint body0 and joint body1. More...

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. More...

Static Public Member Functions
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 classes. More...

static PHYSXSCHEMA_API TfTokenVector	GetSchemaAttributeNames (bool includeInherited, const TfToken &instanceName)
	Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. More...

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`. More...

static PHYSXSCHEMA_API PhysxSchemaJointStateAPI	Get (const UsdPrim &prim, const TfToken &name)
	Return a PhysxSchemaJointStateAPI with name `name` holding the prim `prim`. More...

static PHYSXSCHEMA_API std::vector < PhysxSchemaJointStateAPI >	GetAll (const UsdPrim &prim)
	Return a vector of all named instances of PhysxSchemaJointStateAPI on the given `prim`. More...

static PHYSXSCHEMA_API bool	IsSchemaPropertyBaseName (const TfToken &baseName)
	Checks if the given name `baseName` is the base name of a property of PhysicsJointStateAPI. More...

static PHYSXSCHEMA_API bool	IsPhysicsJointStateAPIPath (const SdfPath &path, TfToken *name)
	Checks if the given path `path` is of an API schema of type PhysicsJointStateAPI. More...

static PHYSXSCHEMA_API bool	CanApply (const UsdPrim &prim, const TfToken &name, std::string *whyNot=nullptr)
	Returns true if this multiple-apply API schema can be applied, with the given instance name, `name`, to the given `prim`. More...

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, `name`. More...

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::MultipleApplyAPI
	Compile time constant representing what kind of schema this class is. More...

Protected Member Functions
PHYSXSCHEMA_API UsdSchemaKind	_GetSchemaKind () const override
	Returns the kind of schema this class belongs to. More...

Friends
class	UsdSchemaRegistry

Detailed Description

The PhysicsJointStateAPI is applied to a joint primitive (i.e.

any PhysicsJoint-derived type) and provides read/write access to the joint position and velocity for a specific joint axis. The PhysicsJointStateAPI is a multipleApply schema, and its instance name TfToken defines the joint axis: The name can be "transX", "transY", "transZ", "rotX", "rotY", "rotZ" or its "linear" for prismatic joint or "angular" for revolute joints, respectively.

Definition at line 63 of file jointStateAPI.h.

Constructor & Destructor Documentation

PhysxSchemaJointStateAPI	(	const UsdPrim &	prim = `UsdPrim()`,
		const TfToken &	name = `TfToken()`
	)

inlineexplicit

Construct a PhysxSchemaJointStateAPI on UsdPrim prim with name name .

Equivalent to PhysxSchemaJointStateAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "state:name"));

for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 80 of file jointStateAPI.h.

PhysxSchemaJointStateAPI	(	const UsdSchemaBase &	schemaObj,
		const TfToken &	name
	)

inlineexplicit

Construct a PhysxSchemaJointStateAPI on the prim held by schemaObj with name name.

Should be preferred over PhysxSchemaJointStateAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.

Definition at line 89 of file jointStateAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaJointStateAPI ( )

virtual

Destructor.

Member Function Documentation

PHYSXSCHEMA_API UsdSchemaKind _GetSchemaKind ( ) const

overrideprotected

Returns the kind of schema this class belongs to.

See Also: UsdSchemaKind

static PHYSXSCHEMA_API PhysxSchemaJointStateAPI Apply	(	const UsdPrim &	prim,
		const TfToken &	name
	)

static

Applies this multiple-apply API schema to the given prim along with the given instance name, name.

This information is stored by adding "PhysicsJointStateAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is 'instance1', the token 'PhysicsJointStateAPI:instance1' is added to 'apiSchemas'.

Returns: A valid PhysxSchemaJointStateAPI object is returned upon success. An invalid (or empty) PhysxSchemaJointStateAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::CanApplyAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

static PHYSXSCHEMA_API bool CanApply	(	const UsdPrim &	prim,
		const TfToken &	name,
		std::string *	whyNot = `nullptr`
	)

static

Returns true if this multiple-apply API schema can be applied, with the given instance name, name, to the given prim.

If this schema can not be a applied the prim, this returns false and, if provided, populates whyNot with the reason it can not be applied.

Note that if CanApply returns false, that does not necessarily imply that calling Apply will fail. Callers are expected to call CanApply before calling Apply if they want to ensure that it is valid to apply a schema.

See Also: UsdPrim::GetAppliedSchemas(); UsdPrim::HasAPI(); UsdPrim::CanApplyAPI(); UsdPrim::ApplyAPI(); UsdPrim::RemoveAPI()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

static PHYSXSCHEMA_API PhysxSchemaJointStateAPI Get	(	const UsdStagePtr &	stage,
		const SdfPath &	path
	)

static

Return a PhysxSchemaJointStateAPI holding the prim adhering to this schema at path on stage.

If no prim exists at path on stage, or if the prim at that path does not adhere to this schema, return an invalid schema object. path must be of the format <path>.state:name .

This is shorthand for the following:

*  TfToken name = SdfPath::StripNamespace(path.GetToken());
*  PhysxSchemaJointStateAPI(
*      stage->GetPrimAtPath(path.GetPrimPath()), name);
*  

static PHYSXSCHEMA_API PhysxSchemaJointStateAPI Get	(	const UsdPrim &	prim,
		const TfToken &	name
	)

static

Return a PhysxSchemaJointStateAPI with name name holding the prim prim.

Shorthand for PhysxSchemaJointStateAPI(prim, name);

static PHYSXSCHEMA_API std::vector<PhysxSchemaJointStateAPI> GetAll ( const UsdPrim & prim )

static

Return a vector of all named instances of PhysxSchemaJointStateAPI on the given prim.

TfToken GetName ( ) const

inline

Returns the name of this multiple-apply schema instance.

Definition at line 115 of file jointStateAPI.h.

PHYSXSCHEMA_API UsdAttribute GetPositionAttr ( ) const

Joint state position defines the relative difference between joint body0 frame and joint body1 frame in world frame.

Range: (-inf, inf) Units: linear - distance angular - degrees


Declaration	`float physics:position = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

static PHYSXSCHEMA_API const TfTokenVector& GetSchemaAttributeNames ( bool includeInherited = true )

static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.

Does not include attributes that may be authored by custom/extended methods of the schemas involved.

static PHYSXSCHEMA_API TfTokenVector GetSchemaAttributeNames	(	bool	includeInherited,
		const TfToken &	instanceName
	)

static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name.

Does not include attributes that may be authored by custom/extended methods of the schemas involved. The names returned will have the proper namespace prefix.

PHYSXSCHEMA_API UsdAttribute GetVelocityAttr ( ) const

Joint state velocity defines the relative velocity between joint body0 and joint body1.

Range: (-inf, inf) Units: linear - distance / seconds angular - degrees / seconds


Declaration	`float physics:velocity = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

static PHYSXSCHEMA_API bool IsPhysicsJointStateAPIPath	(	const SdfPath &	path,
		TfToken *	name
	)

static

Checks if the given path path is of an API schema of type PhysicsJointStateAPI.

If so, it stores the instance name of the schema in name and returns true. Otherwise, it returns false.

static PHYSXSCHEMA_API bool IsSchemaPropertyBaseName ( const TfToken & baseName )

static

Checks if the given name baseName is the base name of a property of PhysicsJointStateAPI.

Member Data Documentation

const UsdSchemaKind schemaKind = UsdSchemaKind::MultipleApplyAPI

static

Compile time constant representing what kind of schema this class is.

See Also: UsdSchemaKind

Definition at line 69 of file jointStateAPI.h.

The documentation for this class was generated from the following file:

C:/g/19412595/omni/schema/source/physxSchema/jointStateAPI.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation