PhysxSchemaPhysxRigidBodyAPI Class Reference

PhysX rigid body extended parameters. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxRigidBodyAPI (const UsdPrim &prim=UsdPrim())
	Construct a PhysxSchemaPhysxRigidBodyAPI on UsdPrim prim . More...
	PhysxSchemaPhysxRigidBodyAPI (const UsdSchemaBase &schemaObj)
	Construct a PhysxSchemaPhysxRigidBodyAPI on the prim held by schemaObj . More...
virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxRigidBodyAPI ()
	Destructor. More...
PHYSXSCHEMA_API UsdAttribute	GetLinearDampingAttr () const
	Linear damping coefficient. More...
PHYSXSCHEMA_API UsdAttribute	CreateLinearDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLinearDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetAngularDampingAttr () const
	Angular damping coefficient. More...
PHYSXSCHEMA_API UsdAttribute	CreateAngularDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetAngularDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMaxLinearVelocityAttr () const
	Maximum allowable linear velocity for the rigid body. More...
PHYSXSCHEMA_API UsdAttribute	CreateMaxLinearVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMaxLinearVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMaxAngularVelocityAttr () const
	Maximum allowable angular velocity for rigid body. More...
PHYSXSCHEMA_API UsdAttribute	CreateMaxAngularVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMaxAngularVelocityAttr(), 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 an actor 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
	Mass-normalized kinetic energy threshold below which an actor 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	GetMaxDepenetrationVelocityAttr () const
	The maximum depenetration velocity permitted to be introduced by the solver. More...
PHYSXSCHEMA_API UsdAttribute	CreateMaxDepenetrationVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMaxDepenetrationVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMaxContactImpulseAttr () const
	Sets a limit on the impulse that may be applied at a contact. More...
PHYSXSCHEMA_API UsdAttribute	CreateMaxContactImpulseAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMaxContactImpulseAttr(), 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	GetEnableCCDAttr () const
	Enables swept integration for the actor. More...
PHYSXSCHEMA_API UsdAttribute	CreateEnableCCDAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetEnableCCDAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetEnableSpeculativeCCDAttr () const
	Register a rigid body to dynamically adjust contact offset based on velocity. More...
PHYSXSCHEMA_API UsdAttribute	CreateEnableSpeculativeCCDAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetEnableSpeculativeCCDAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetRetainAccelerationsAttr () const
	Carries over forces/accelerations between frames, rather than clearing them. More...
PHYSXSCHEMA_API UsdAttribute	CreateRetainAccelerationsAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetRetainAccelerationsAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetEnableGyroscopicForcesAttr () const
	Enables computation of gyroscopic forces on the rigid body. More...
PHYSXSCHEMA_API UsdAttribute	CreateEnableGyroscopicForcesAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetEnableGyroscopicForcesAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetDisableGravityAttr () const
	Disable gravity for the actor. More...
PHYSXSCHEMA_API UsdAttribute	CreateDisableGravityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetDisableGravityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSolveContactAttr () const
	Process the contacts of this rigid body in the dynamics solver. More...
PHYSXSCHEMA_API UsdAttribute	CreateSolveContactAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSolveContactAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLockedPosAxisAttr () const
	Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2). More...
PHYSXSCHEMA_API UsdAttribute	CreateLockedPosAxisAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLockedPosAxisAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLockedRotAxisAttr () const
	Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2). More...
PHYSXSCHEMA_API UsdAttribute	CreateLockedRotAxisAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLockedRotAxisAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetContactSlopCoefficientAttr () const
	Tolerance on the angular influence of a contact that can help improve the behavior of rolling approximate collision shapes. More...
PHYSXSCHEMA_API UsdAttribute	CreateContactSlopCoefficientAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetContactSlopCoefficientAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetCfmScaleAttr () const
	The cfm scale term can help stabilize an articulation by weakening the constraint's response. More...
PHYSXSCHEMA_API UsdAttribute	CreateCfmScaleAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetCfmScaleAttr(), 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 PhysxSchemaPhysxRigidBodyAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxRigidBodyAPI 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 PhysxSchemaPhysxRigidBodyAPI	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 rigid body extended parameters.

Definition at line 57 of file physxRigidBodyAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxRigidBodyAPI ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a PhysxSchemaPhysxRigidBodyAPI on UsdPrim prim .

Equivalent to PhysxSchemaPhysxRigidBodyAPI::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 physxRigidBodyAPI.h.

PhysxSchemaPhysxRigidBodyAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a PhysxSchemaPhysxRigidBodyAPI on the prim held by schemaObj .

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

Definition at line 77 of file physxRigidBodyAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxRigidBodyAPI ( )

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 PhysxSchemaPhysxRigidBodyAPI Apply ( const UsdPrim &  prim )

static

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

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

Returns

A valid PhysxSchemaPhysxRigidBodyAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxRigidBodyAPI 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 CreateAngularDampingAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetAngularDampingAttr(), 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 CreateCfmScaleAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetCfmScaleAttr(), 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 CreateContactSlopCoefficientAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetContactSlopCoefficientAttr(), 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 CreateDisableGravityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetDisableGravityAttr(), 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 CreateEnableCCDAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetEnableCCDAttr(), 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 CreateEnableGyroscopicForcesAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetEnableGyroscopicForcesAttr(), 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 CreateEnableSpeculativeCCDAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetEnableSpeculativeCCDAttr(), 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 CreateLinearDampingAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLinearDampingAttr(), 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 CreateLockedPosAxisAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLockedPosAxisAttr(), 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 CreateLockedRotAxisAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLockedRotAxisAttr(), 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 CreateMaxAngularVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMaxAngularVelocityAttr(), 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 CreateMaxContactImpulseAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMaxContactImpulseAttr(), 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 CreateMaxDepenetrationVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMaxDepenetrationVelocityAttr(), 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 CreateMaxLinearVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMaxLinearVelocityAttr(), 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 CreateRetainAccelerationsAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetRetainAccelerationsAttr(), 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 CreateSolveContactAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSolveContactAttr(), 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 PhysxSchemaPhysxRigidBodyAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a PhysxSchemaPhysxRigidBodyAPI 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:

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

PHYSXSCHEMA_API UsdAttribute GetAngularDampingAttr

(

)

const

Angular damping coefficient.

Range: [0, inf) Units: dimensionless

Declaration	float physxRigidBody:angularDamping = 0.05
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetCfmScaleAttr

(

)

const

The cfm scale term can help stabilize an articulation by weakening the constraint's response.

Use small values close to the default and typically in the range [0, 0.1] for best results. Note that this parameter is currently used only if rigid body is part of an articulation. Range: [0, 1] Units: unitless

Declaration	float physxRigidBody:cfmScale = 0.025
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetContactSlopCoefficientAttr

(

)

const

Tolerance on the angular influence of a contact that can help improve the behavior of rolling approximate collision shapes.

Specifically, the angular component of a normal constraint in a contact is zeroed if normal.cross(offset) falls below this tolerance. The tolerance is scaled such that the behavior improvement persists through a range of angular velocities of a rolling shape. Range: [0, inf) Units: distance

Declaration	float physxRigidBody:contactSlopCoefficient = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetDisableGravityAttr

(

)

const

Disable gravity for the actor.

Declaration	bool physxRigidBody:disableGravity = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetEnableCCDAttr

(

)

const

Enables swept integration for the actor.

Declaration	bool physxRigidBody:enableCCD = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetEnableGyroscopicForcesAttr

(

)

const

Enables computation of gyroscopic forces on the rigid body.

Declaration	bool physxRigidBody:enableGyroscopicForces = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetEnableSpeculativeCCDAttr

(

)

const

Register a rigid body to dynamically adjust contact offset based on velocity.

This can be used to achieve a CCD effect.

Declaration	bool physxRigidBody:enableSpeculativeCCD = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetLinearDampingAttr

(

)

const

Linear damping coefficient.

Range: [0, inf) Units: dimensionless

Declaration	float physxRigidBody:linearDamping = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLockedPosAxisAttr

(

)

const

Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2).

Declaration	int physxRigidBody:lockedPosAxis = 0
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetLockedRotAxisAttr

(

)

const

Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2).

Declaration	int physxRigidBody:lockedRotAxis = 0
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetMaxAngularVelocityAttr

(

)

const

Maximum allowable angular velocity for rigid body.

Range: [0, inf) Units: degrees / seconds

Declaration	float physxRigidBody:maxAngularVelocity = 5729.58
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetMaxContactImpulseAttr

(

)

const

Sets a limit on the impulse that may be applied at a contact.

The maximum impulse at a contact between two dynamic or kinematic bodies will be the minimum of the two limit values. For a collision between a static and a dynamic body, the impulse is limited by the value for the dynamic body. Range: [0, inf) Units: force * seconds = mass * distance / seconds

Declaration	float physxRigidBody:maxContactImpulse = inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetMaxDepenetrationVelocityAttr

(

)

const

The maximum depenetration velocity permitted to be introduced by the solver.

Range: [0, inf) Default: 5.0 * tolerancesLength Units: distance / seconds

Declaration	float physxRigidBody:maxDepenetrationVelocity = 3
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetMaxLinearVelocityAttr

(

)

const

Maximum allowable linear velocity for the rigid body.

Range: [0, inf) Units: distance / seconds

Declaration	float physxRigidBody:maxLinearVelocity = inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetRetainAccelerationsAttr

(

)

const

Carries over forces/accelerations between frames, rather than clearing them.

Declaration	bool physxRigidBody:retainAccelerations = 0
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 an actor may go to sleep.

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

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

PHYSXSCHEMA_API UsdAttribute GetSolveContactAttr

(

)

const

Process the contacts of this rigid body in the dynamics solver.

Declaration	bool physxRigidBody:solveContact = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetSolverPositionIterationCountAttr

(

)

const

Solver position iteration counts for the body.

Allowed range [1, 255].

Declaration	int physxRigidBody:solverPositionIterationCount = 16
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 physxRigidBody:solverVelocityIterationCount = 1
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetStabilizationThresholdAttr

(

)

const

Mass-normalized kinetic energy threshold below which an actor may participate in stabilization.

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

Declaration	float physxRigidBody: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 physxRigidBodyAPI.h.

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

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