PhysxSchemaPhysxTendonAxisRootAPI Class Reference

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

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxTendonAxisRootAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
	Construct a PhysxSchemaPhysxTendonAxisRootAPI on UsdPrim prim with name name . More...
	PhysxSchemaPhysxTendonAxisRootAPI (const UsdSchemaBase &schemaObj, const TfToken &name)
	Construct a PhysxSchemaPhysxTendonAxisRootAPI on the prim held by schemaObj with name name. More...
virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxTendonAxisRootAPI ()
	Destructor. More...
TfToken	GetName () const
	Returns the name of this multiple-apply schema instance. More...
PHYSXSCHEMA_API UsdAttribute	GetStiffnessAttr () const
	Tendon length spring stiffness. More...
PHYSXSCHEMA_API UsdAttribute	CreateStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetStiffnessAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetDampingAttr () const
	Tendon length damping. More...
PHYSXSCHEMA_API UsdAttribute	CreateDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLimitStiffnessAttr () const
	Tendon length-limit spring stiffness. More...
PHYSXSCHEMA_API UsdAttribute	CreateLimitStiffnessAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLimitStiffnessAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetOffsetAttr () const
	Tendon length offset. More...
PHYSXSCHEMA_API UsdAttribute	CreateOffsetAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetOffsetAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetRestLengthAttr () const
	Tendon rest length. More...
PHYSXSCHEMA_API UsdAttribute	CreateRestLengthAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetRestLengthAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLowerLimitAttr () const
	Tendon length lower limit. More...
PHYSXSCHEMA_API UsdAttribute	CreateLowerLimitAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLowerLimitAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetUpperLimitAttr () const
	Tendon length upper limit. More...
PHYSXSCHEMA_API UsdAttribute	CreateUpperLimitAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetUpperLimitAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetTendonEnabledAttr () const
	Enables/disables the tendon from contributing to the articulation dynamics. More...
PHYSXSCHEMA_API UsdAttribute	CreateTendonEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetTendonEnabledAttr(), 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 PhysxSchemaPhysxTendonAxisRootAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxTendonAxisRootAPI holding the prim adhering to this schema at path on stage. More...
static PHYSXSCHEMA_API PhysxSchemaPhysxTendonAxisRootAPI	Get (const UsdPrim &prim, const TfToken &name)
	Return a PhysxSchemaPhysxTendonAxisRootAPI with name name holding the prim prim. More...
static PHYSXSCHEMA_API std::vector < PhysxSchemaPhysxTendonAxisRootAPI >	GetAll (const UsdPrim &prim)
	Return a vector of all named instances of PhysxSchemaPhysxTendonAxisRootAPI 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 PhysxTendonAxisRootAPI. More...
static PHYSXSCHEMA_API bool	IsPhysxTendonAxisRootAPIPath (const SdfPath &path, TfToken *name)
	Checks if the given path path is of an API schema of type PhysxTendonAxisRootAPI. 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 PhysxSchemaPhysxTendonAxisRootAPI	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) yet.

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

In addition to creating a regular axis of the fixed tendon, the root API provides attributes that apply to the entire tendon. The root API must be applied to the joint that is the common ancestor of all joint axes in the tendon.

For restrictions on tendon structure and grouping of axes into tendons, see PhysxTendonAxisAPI.

Definition at line 66 of file physxTendonAxisRootAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxTendonAxisRootAPI ( const UsdPrim &  prim = UsdPrim(), const TfToken &  name = TfToken()  )

inlineexplicit

Construct a PhysxSchemaPhysxTendonAxisRootAPI on UsdPrim prim with name name .

Equivalent to PhysxSchemaPhysxTendonAxisRootAPI::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 83 of file physxTendonAxisRootAPI.h.

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

inlineexplicit

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

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

Definition at line 92 of file physxTendonAxisRootAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxTendonAxisRootAPI ( )

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

Returns

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

See GetDampingAttr(), 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 CreateLimitStiffnessAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLimitStiffnessAttr(), 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 CreateLowerLimitAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLowerLimitAttr(), 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 CreateOffsetAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetOffsetAttr(), 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 CreateRestLengthAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetRestLengthAttr(), 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 CreateStiffnessAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetStiffnessAttr(), 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 CreateTendonEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetTendonEnabledAttr(), 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 CreateUpperLimitAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetUpperLimitAttr(), 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 PhysxSchemaPhysxTendonAxisRootAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a PhysxSchemaPhysxTendonAxisRootAPI 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());
*  PhysxSchemaPhysxTendonAxisRootAPI(
*      stage->GetPrimAtPath(path.GetPrimPath()), name);
*  

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

static

Return a PhysxSchemaPhysxTendonAxisRootAPI with name name holding the prim prim.

Shorthand for PhysxSchemaPhysxTendonAxisRootAPI(prim, name);

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

static

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

PHYSXSCHEMA_API UsdAttribute GetDampingAttr

(

)

const

Tendon length damping.

Range: [0, inf) Units: force / distance * time = mass / time

Declaration	float damping = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLimitStiffnessAttr

(

)

const

Tendon length-limit spring stiffness.

Range: [0, inf) Units: force / distance = mass / time / time

Declaration	float limitStiffness = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLowerLimitAttr

(

)

const

Tendon length lower limit.

Range: (-inf, upperLimit]. Units: distance

Declaration	float lowerLimit = -inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

TfToken GetName ( ) const

inline

Returns the name of this multiple-apply schema instance.

Definition at line 118 of file physxTendonAxisRootAPI.h.

PHYSXSCHEMA_API UsdAttribute GetOffsetAttr

(

)

const

Tendon length offset.

Range: (-inf, inf) Units: distance

Declaration	float offset = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetRestLengthAttr

(

)

const

Tendon rest length.

Range: (-inf, inf) Units: distance

Declaration	float restLength = 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 GetStiffnessAttr

(

)

const

Tendon length spring stiffness.

Range: [0, inf) Units: force / distance = mass / time / time

Declaration	float stiffness = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetTendonEnabledAttr

(

)

const

Enables/disables the tendon from contributing to the articulation dynamics.

Declaration	bool tendonEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetUpperLimitAttr

(

)

const

Tendon length upper limit.

Range: [lowerLimit, inf) Units: distance

Declaration	float upperLimit = inf
C++ Type	float
Usd Type	SdfValueTypeNames->Float

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

static

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

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 PhysxTendonAxisRootAPI.

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 72 of file physxTendonAxisRootAPI.h.

---

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

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