PhysxSchemaPhysxArticulationAPI Class Reference

PhysX articulation extended parameters. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxArticulationAPI (const UsdPrim &prim=UsdPrim())
	Construct a PhysxSchemaPhysxArticulationAPI on UsdPrim prim . More...
	PhysxSchemaPhysxArticulationAPI (const UsdSchemaBase &schemaObj)
	Construct a PhysxSchemaPhysxArticulationAPI on the prim held by schemaObj . More...
virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxArticulationAPI ()
	Destructor. More...
PHYSXSCHEMA_API UsdAttribute	GetArticulationEnabledAttr () const
	Boolean defining whether articulation is enabled or disabled. More...
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. More...
PHYSXSCHEMA_API UsdAttribute	GetSolverPositionIterationCountAttr () const
	Solver position iteration counts for the body. More...
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 Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSolverVelocityIterationCountAttr () const
	Solver velocity iteration counts for the body. More...
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 Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSleepThresholdAttr () const
	Mass-normalized kinetic energy threshold below which the articulation may go to sleep. More...
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. More...
PHYSXSCHEMA_API UsdAttribute	GetStabilizationThresholdAttr () const
	The mass-normalized kinetic energy threshold below which the articulation may participate in stabilization. More...
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 Create. More...
PHYSXSCHEMA_API UsdAttribute	GetEnabledSelfCollisionsAttr () const
	Boolean defining whether self collisions should be enabled or disabled. More...
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. 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 PhysxSchemaPhysxArticulationAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxArticulationAPI holding the prim adhering to this schema at path on stage. More...
static PHYSXSCHEMA_API bool	CanApply (const UsdPrim &prim, std::string *whyNot=nullptr)
	Returns true if this single-apply API schema can be applied to the given prim. More...
static PHYSXSCHEMA_API PhysxSchemaPhysxArticulationAPI	Apply (const UsdPrim &prim)
	Applies this single-apply API schema to the given prim. More...

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::SingleApplyAPI
	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

PhysX articulation extended parameters.

Definition at line 57 of file physxArticulationAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxArticulationAPI ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a PhysxSchemaPhysxArticulationAPI on UsdPrim prim .

Equivalent to PhysxSchemaPhysxArticulationAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 69 of file physxArticulationAPI.h.

PhysxSchemaPhysxArticulationAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a PhysxSchemaPhysxArticulationAPI on the prim held by schemaObj .

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

Definition at line 77 of file physxArticulationAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxArticulationAPI ( )

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 PhysxSchemaPhysxArticulationAPI Apply ( const UsdPrim &  prim )

static

Applies this single-apply API schema to the given prim.

This information is stored by adding "PhysxArticulationAPI" to the token-valued, listOp metadata apiSchemas on the prim.

Returns

A valid PhysxSchemaPhysxArticulationAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxArticulationAPI 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, std::string *  whyNot = nullptr  )

static

Returns true if this single-apply API schema can be applied to the given prim.

If this schema can not be a applied to 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 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.

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 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.

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 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.

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 CreateSolverPositionIterationCountAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSolverPositionIterationCountAttr(), 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 CreateSolverVelocityIterationCountAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSolverVelocityIterationCountAttr(), 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 CreateStabilizationThresholdAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetStabilizationThresholdAttr(), 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 PhysxSchemaPhysxArticulationAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a PhysxSchemaPhysxArticulationAPI 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. This is shorthand for the following:

*  PhysxSchemaPhysxArticulationAPI(stage->GetPrimAtPath(path));
*  

PHYSXSCHEMA_API UsdAttribute GetArticulationEnabledAttr

(

)

const

Boolean defining whether articulation is enabled or disabled.

Declaration	bool physxArticulation:articulationEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetEnabledSelfCollisionsAttr

(

)

const

Boolean defining whether self collisions should be enabled or disabled.

Declaration	bool physxArticulation:enabledSelfCollisions = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

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.

PHYSXSCHEMA_API UsdAttribute GetSleepThresholdAttr

(

)

const

Mass-normalized kinetic energy threshold below which the articulation may go to sleep.

Range: [0, inf) Default: 0.00005 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds

Declaration	float physxArticulation:sleepThreshold = 0.00005
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetSolverPositionIterationCountAttr

(

)

const

Solver position iteration counts for the body.

Allowed range [1, 255].

Declaration	int physxArticulation:solverPositionIterationCount = 32
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetSolverVelocityIterationCountAttr

(

)

const

Solver velocity iteration counts for the body.

Allowed range [0, 255].

Declaration	int physxArticulation:solverVelocityIterationCount = 1
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetStabilizationThresholdAttr

(

)

const

The mass-normalized kinetic energy threshold below which the articulation may participate in stabilization.

Range: [0, inf) Default: 0.00001 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds

Declaration	float physxArticulation:stabilizationThreshold = 0.00001
C++ Type	float
Usd Type	SdfValueTypeNames->Float

Member Data Documentation

const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI

static

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

See Also

UsdSchemaKind

Definition at line 63 of file physxArticulationAPI.h.

---

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

• C:/g/19412595/omni/schema/source/physxSchema/physxArticulationAPI.h