WARNING: Draft API, this design is not fixed and may change in the future. More...

Inherits UsdAPISchemaBase.

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

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

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

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

PHYSXSCHEMA_API UsdAttribute	GetGearingAttr () const
	Joint gearing(s) per joint axis in axis token array, in the same order. More...

PHYSXSCHEMA_API UsdAttribute	CreateGearingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetGearingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

PHYSXSCHEMA_API UsdAttribute	GetForceCoefficientAttr () const
	Joint force coefficient(s) per joint axis in axis token array, in the same order. More...

PHYSXSCHEMA_API UsdAttribute	CreateForceCoefficientAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetForceCoefficientAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...

PHYSXSCHEMA_API UsdAttribute	GetJointAxisAttr () const
	Specifies target joint axis/axes. More...

PHYSXSCHEMA_API UsdAttribute	CreateJointAxisAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetJointAxisAttr(), 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 PhysxSchemaPhysxTendonAxisAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxTendonAxisAPI holding the prim adhering to this schema at `path` on `stage`. More...

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

static PHYSXSCHEMA_API std::vector < PhysxSchemaPhysxTendonAxisAPI >	GetAll (const UsdPrim &prim)
	Return a vector of all named instances of PhysxSchemaPhysxTendonAxisAPI 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 PhysxTendonAxisAPI. More...

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

WARNING: Draft API, this design is not fixed and may change in the future.

At this point, we don't support multi-axis joints (e.g. spherical, D6).

Applied to a Physics Joint that must be part of an articulation, e.g. PhysicsRevoluteJoint or PhysicsPrismaticJoint.

A tendon axis is part of a fixed tendon and contributes to the tendon length via the position of its associated articulation joint axis and the gearing attribute. The tendon applies spring-damper forces to the articulation links, scaled by the force coefficient, that aim to maintain constraints on the tendon lengths.

A joint may have multiple tendon axes that belong to distinct fixed tendons; therefore, the fixed-tendon APIs are multi-apply and are grouped into tendons by their instance names.

Fixed tendons do not allow linking arbitrary joint axes of the articulation: The respective joints must all be directly connected to each other in the articulation structure, i.e. each of the joints in the tendon must be connected by a single articulation link to another joint in the same tendon. This implies that fixed tendons can branch along with a branching articulation as well. In addition, the root tendon axis created by applying the PhysxTendonAxisRootAPI must be applied to the articulation joint that is the common ancestor of all joint axes in the fixed tendon.

In a future version, it will be possible to include multiple axes of a multi-axis joint (e.g. a spherical joint) in the fixed tendon by adding them to the axis token array, and setting their gearing and forceCoefficient accordingly in the respective float arrays (in the same order). Until then, the jointAxis token array is ignored, and only the first element of the gearing array is considered.

Definition at line 80 of file physxTendonAxisAPI.h.

Constructor & Destructor Documentation

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

inlineexplicit

Construct a PhysxSchemaPhysxTendonAxisAPI on UsdPrim prim with name name .

Equivalent to PhysxSchemaPhysxTendonAxisAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "physxTendon:name"));

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

Definition at line 97 of file physxTendonAxisAPI.h.

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

inlineexplicit

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

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

Definition at line 106 of file physxTendonAxisAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxTendonAxisAPI ( )

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 PhysxSchemaPhysxTendonAxisAPI 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 "PhysxTendonAxisAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is 'instance1', the token 'PhysxTendonAxisAPI:instance1' is added to 'apiSchemas'.

Returns: A valid PhysxSchemaPhysxTendonAxisAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxTendonAxisAPI 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 CreateForceCoefficientAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetForceCoefficientAttr(), 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 CreateGearingAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetGearingAttr(), 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 CreateJointAxisAttr	(	VtValue const &	defaultValue = `VtValue()`,
		bool	writeSparsely = `false`
	)		const

See GetJointAxisAttr(), 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 PhysxSchemaPhysxTendonAxisAPI Get	(	const UsdStagePtr &	stage,
		const SdfPath &	path
	)

static

Return a PhysxSchemaPhysxTendonAxisAPI 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>.physxTendon:name .

This is shorthand for the following:

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

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

static

Return a PhysxSchemaPhysxTendonAxisAPI with name name holding the prim prim.

Shorthand for PhysxSchemaPhysxTendonAxisAPI(prim, name);

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

static

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

PHYSXSCHEMA_API UsdAttribute GetForceCoefficientAttr ( ) const

Joint force coefficient(s) per joint axis in axis token array, in the same order.

Range: (-inf, inf) Units: translational axis: unitless rotational axis: distance


Declaration	`float[] forceCoefficient = [1]`
C++ Type	VtArray<float>
Usd Type	SdfValueTypeNames->FloatArray

PHYSXSCHEMA_API UsdAttribute GetGearingAttr ( ) const

Joint gearing(s) per joint axis in axis token array, in the same order.

Range: (-inf, inf) Units: translational axis: unitless rotational axis: distance/degrees


Declaration	`float[] gearing = [1]`
C++ Type	VtArray<float>
Usd Type	SdfValueTypeNames->FloatArray

PHYSXSCHEMA_API UsdAttribute GetJointAxisAttr ( ) const

Specifies target joint axis/axes.

Ignored when the joint only has a single axis, e.g. a revolute joint.


Declaration	`uniform token[] jointAxis`
C++ Type	VtArray<TfToken>
Usd Type	SdfValueTypeNames->TokenArray
Variability	SdfVariabilityUniform
Allowed Values	transX, transY, transZ, rotX, rotY, rotZ

TfToken GetName ( ) const

inline

Returns the name of this multiple-apply schema instance.

Definition at line 132 of file physxTendonAxisAPI.h.

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.

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

static

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

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 PhysxTendonAxisAPI.

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 86 of file physxTendonAxisAPI.h.

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

C:/g/19412595/omni/schema/source/physxSchema/physxTendonAxisAPI.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