PhysxSchemaPhysxVehicleAPI Class Reference

PhysX vehicle. More...

Inherits UsdAPISchemaBase.

Public Member Functions
	PhysxSchemaPhysxVehicleAPI (const UsdPrim &prim=UsdPrim())
	Construct a PhysxSchemaPhysxVehicleAPI on UsdPrim prim . More...
	PhysxSchemaPhysxVehicleAPI (const UsdSchemaBase &schemaObj)
	Construct a PhysxSchemaPhysxVehicleAPI on the prim held by schemaObj . More...
virtual PHYSXSCHEMA_API	~PhysxSchemaPhysxVehicleAPI ()
	Destructor. More...
PHYSXSCHEMA_API UsdAttribute	GetVehicleEnabledAttr () const
	Defines whether the vehicle simulation update loop will run for the vehicle or not. More...
PHYSXSCHEMA_API UsdAttribute	CreateVehicleEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetVehicleEnabledAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSuspensionLineQueryTypeAttr () const
	Collision of the wheels with the ground surface is detected through scene queries along the suspension direction. More...
PHYSXSCHEMA_API UsdAttribute	CreateSuspensionLineQueryTypeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSuspensionLineQueryTypeAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLimitSuspensionExpansionVelocityAttr () const
	Limit the suspension expansion dynamics. More...
PHYSXSCHEMA_API UsdAttribute	CreateLimitSuspensionExpansionVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLimitSuspensionExpansionVelocityAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetSubStepThresholdLongitudinalSpeedAttr () const
	Threshold speed that is used to categorize vehicle speed as low speed or high speed for choosing the sub-step count (units: distance / seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateSubStepThresholdLongitudinalSpeedAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetSubStepThresholdLongitudinalSpeedAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLowForwardSpeedSubStepCountAttr () const
	Number of sub-steps performed in the vehicle dynamics update for vehicles that have longitudinal speed lower than subStepThresholdLongitudinalSpeed. More...
PHYSXSCHEMA_API UsdAttribute	CreateLowForwardSpeedSubStepCountAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLowForwardSpeedSubStepCountAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetHighForwardSpeedSubStepCountAttr () const
	Number of sub-steps performed in the vehicle dynamics update for vehicles that have longitudinal speed greater than subStepThresholdLongitudinalSpeed. More...
PHYSXSCHEMA_API UsdAttribute	CreateHighForwardSpeedSubStepCountAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetHighForwardSpeedSubStepCountAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMinLongitudinalSlipDenominatorAttr () const
	Deprecated. More...
PHYSXSCHEMA_API UsdAttribute	CreateMinLongitudinalSlipDenominatorAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMinLongitudinalSlipDenominatorAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMinPassiveLongitudinalSlipDenominatorAttr () const
	The minimum denominator used in the longitudinal slip calculation when a wheel experiences no drive and no brake torque (units: distance / seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateMinPassiveLongitudinalSlipDenominatorAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMinPassiveLongitudinalSlipDenominatorAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMinActiveLongitudinalSlipDenominatorAttr () const
	The minimum denominator used in the longitudinal slip calculation when a wheel experiences drive or brake torque (units: distance / seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateMinActiveLongitudinalSlipDenominatorAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMinActiveLongitudinalSlipDenominatorAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetMinLateralSlipDenominatorAttr () const
	The minimum denominator used in the lateral slip calculation (units: distance / seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateMinLateralSlipDenominatorAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetMinLateralSlipDenominatorAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLongitudinalStickyTireThresholdSpeedAttr () const
	The longitudinal sticky tire threshold speed (units: distance / seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateLongitudinalStickyTireThresholdSpeedAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLongitudinalStickyTireThresholdSpeedAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLongitudinalStickyTireThresholdTimeAttr () const
	The longitudinal sticky tire threshold time (in seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateLongitudinalStickyTireThresholdTimeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLongitudinalStickyTireThresholdTimeAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLongitudinalStickyTireDampingAttr () const
	The longitudinal sticky tire damping (per seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateLongitudinalStickyTireDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLongitudinalStickyTireDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLateralStickyTireThresholdSpeedAttr () const
	The lateral sticky tire threshold speed (units: distance / seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateLateralStickyTireThresholdSpeedAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLateralStickyTireThresholdSpeedAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLateralStickyTireThresholdTimeAttr () const
	The lateral sticky tire threshold time (in seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateLateralStickyTireThresholdTimeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLateralStickyTireThresholdTimeAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdAttribute	GetLateralStickyTireDampingAttr () const
	The lateral sticky tire damping (per seconds). More...
PHYSXSCHEMA_API UsdAttribute	CreateLateralStickyTireDampingAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetLateralStickyTireDampingAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More...
PHYSXSCHEMA_API UsdRelationship	GetDriveRel () const
	A relationship to a PhysxVehicleDriveBasicAPI or PhysxVehicleDriveStandardAPI prim that describes the drive model. More...
PHYSXSCHEMA_API UsdRelationship	CreateDriveRel () const
	See GetDriveRel(), 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 PhysxSchemaPhysxVehicleAPI	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a PhysxSchemaPhysxVehicleAPI 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 PhysxSchemaPhysxVehicleAPI	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 vehicle.

Has to be applied to a prim with PhysicsRigidBodyAPI applied. Wheels can be added by applying PhysxVehicleWheelAttachmentAPI to a prim that is a descendant of the "vehicle" prim.

Note: if the prim has PhysxRigidBodyAPI applied, it should be configured such that disableGravity is set to true since the vehicle simulation will take gravity into account already.

For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in PhysxSchemaTokens. So to set an attribute to the value "rightHanded", use PhysxSchemaTokens->rightHanded as the value.

Definition at line 64 of file physxVehicleAPI.h.

Constructor & Destructor Documentation

PhysxSchemaPhysxVehicleAPI ( const UsdPrim &  prim = UsdPrim() )

inlineexplicit

Construct a PhysxSchemaPhysxVehicleAPI on UsdPrim prim .

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

Definition at line 76 of file physxVehicleAPI.h.

PhysxSchemaPhysxVehicleAPI ( const UsdSchemaBase &  schemaObj )

inlineexplicit

Construct a PhysxSchemaPhysxVehicleAPI on the prim held by schemaObj .

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

Definition at line 84 of file physxVehicleAPI.h.

virtual PHYSXSCHEMA_API ~PhysxSchemaPhysxVehicleAPI ( )

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 PhysxSchemaPhysxVehicleAPI Apply ( const UsdPrim &  prim )

static

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

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

Returns

A valid PhysxSchemaPhysxVehicleAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxVehicleAPI 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 UsdRelationship CreateDriveRel

(

)

const

See GetDriveRel(), and also Usd_Create_Or_Get_Property for when to use Get vs Create.

PHYSXSCHEMA_API UsdAttribute CreateHighForwardSpeedSubStepCountAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetHighForwardSpeedSubStepCountAttr(), 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 CreateLateralStickyTireDampingAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLateralStickyTireDampingAttr(), 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 CreateLateralStickyTireThresholdSpeedAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLateralStickyTireThresholdSpeedAttr(), 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 CreateLateralStickyTireThresholdTimeAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLateralStickyTireThresholdTimeAttr(), 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 CreateLimitSuspensionExpansionVelocityAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLimitSuspensionExpansionVelocityAttr(), 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 CreateLongitudinalStickyTireDampingAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLongitudinalStickyTireDampingAttr(), 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 CreateLongitudinalStickyTireThresholdSpeedAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLongitudinalStickyTireThresholdSpeedAttr(), 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 CreateLongitudinalStickyTireThresholdTimeAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLongitudinalStickyTireThresholdTimeAttr(), 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 CreateLowForwardSpeedSubStepCountAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetLowForwardSpeedSubStepCountAttr(), 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 CreateMinActiveLongitudinalSlipDenominatorAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMinActiveLongitudinalSlipDenominatorAttr(), 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 CreateMinLateralSlipDenominatorAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMinLateralSlipDenominatorAttr(), 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 CreateMinLongitudinalSlipDenominatorAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMinLongitudinalSlipDenominatorAttr(), 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 CreateMinPassiveLongitudinalSlipDenominatorAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetMinPassiveLongitudinalSlipDenominatorAttr(), 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 CreateSubStepThresholdLongitudinalSpeedAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSubStepThresholdLongitudinalSpeedAttr(), 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 CreateSuspensionLineQueryTypeAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetSuspensionLineQueryTypeAttr(), 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 CreateVehicleEnabledAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false
	)		const

See GetVehicleEnabledAttr(), 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 PhysxSchemaPhysxVehicleAPI Get ( const UsdStagePtr &  stage, const SdfPath &  path  )

static

Return a PhysxSchemaPhysxVehicleAPI 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:

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

PHYSXSCHEMA_API UsdRelationship GetDriveRel

(

)

const

A relationship to a PhysxVehicleDriveBasicAPI or PhysxVehicleDriveStandardAPI prim that describes the drive model.

If none is specified, it is up to the user to apply torque to the wheels. It is also possible to apply PhysxVehicleDriveBasicAPI or PhysxVehicleDriveStandardAPI to the prim directly. In that case the relationship must not be defined.

PHYSXSCHEMA_API UsdAttribute GetHighForwardSpeedSubStepCountAttr

(

)

const

Number of sub-steps performed in the vehicle dynamics update for vehicles that have longitudinal speed greater than subStepThresholdLongitudinalSpeed.

Note: if not defined, the value 1 will be used.

Declaration	int physxVehicle:highForwardSpeedSubStepCount
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetLateralStickyTireDampingAttr

(

)

const

The lateral sticky tire damping (per seconds).

See documentation about longitudinalStickyTireDamping as it is the same concept.

Note: larger values of damping lead to faster approaches to zero. Since the damping behaves like a stiffness with respect to the velocity, too large a value can lead to instabilities.

Declaration	float physxVehicle:lateralStickyTireDamping = 20
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLateralStickyTireThresholdSpeedAttr

(

)

const

The lateral sticky tire threshold speed (units: distance / seconds).

See documentation about longitudinalStickyTireThresholdSpeed as it is the same concept. Note that the lateral part can only enter the "sticky tire" regime if the longitudinal speed is below longitudinalStickyTireThresholdSpeed.

Note: the default value -1 is not a valid value as such but will result in the value 0.2 being used (in meter length scale or the equivalent if another unit is used).

Declaration	float physxVehicle:lateralStickyTireThresholdSpeed = -1
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLateralStickyTireThresholdTimeAttr

(

)

const

The lateral sticky tire threshold time (in seconds).

See documentation about longitudinalStickyTireThresholdTime as it is the same concept.

Declaration	float physxVehicle:lateralStickyTireThresholdTime = 1
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLimitSuspensionExpansionVelocityAttr

(

)

const

Limit the suspension expansion dynamics.

When a hit with the ground is detected, the suspension jounce will be set such that the wheel is placed on the ground. This can result in large changes to jounce within a single simulation frame, if the ground surface has high frequency or if the simulation time step is large. As a result, large damping forces can evolve and cause undesired behavior. If this parameter is set to true, the suspension expansion speed will be limited to what can be achieved given the time step, suspension stiffness etc. As a consequence, handling of the vehicle will be affected as the wheel might loose contact with the ground more easily.

Note: this will apply to the suspensions of all wheels.

Declaration	bool physxVehicle:limitSuspensionExpansionVelocity = 0
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

PHYSXSCHEMA_API UsdAttribute GetLongitudinalStickyTireDampingAttr

(

)

const

The longitudinal sticky tire damping (per seconds).

Has to be greater or equal 0. Describes the rate at which the velocity constraint approaches zero when entering the "sticky tire" regime. More details on the "sticky tire" regime can be found in the documentation of the longitudinalStickyTireThresholdSpeed attribute.

Note: larger values of damping lead to faster approaches to zero. Since the damping behaves like a stiffness with respect to the velocity, too large a value can lead to instabilities.

Declaration	float physxVehicle:longitudinalStickyTireDamping = 200
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLongitudinalStickyTireThresholdSpeedAttr

(

)

const

The longitudinal sticky tire threshold speed (units: distance / seconds).

Has to be greater or equal 0. A tire enters the "sticky tire" regime when its longitudinal speed has been below this threshold for a continuous time specified by longitudinalStickyTireThresholdTime. At low speeds with no significant brake or drive torque, numerical error begins to dominate and it can be difficult to bring the vehicle to rest. A solution to this problem is to recognise that the vehicle is close to rest and to replace the tire forces with velocity constraints that will bring the vehicle to rest. For the purpose of this documentation, this regime is referred to as the "sticky tire" regime.

Note: the default value -1 is not a valid value as such but will result in the value 0.2 being used (in meter length scale or the equivalent if another unit is used).

Declaration	float physxVehicle:longitudinalStickyTireThresholdSpeed = -1
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLongitudinalStickyTireThresholdTimeAttr

(

)

const

The longitudinal sticky tire threshold time (in seconds).

Has to be greater or equal 0. A tire enters the "sticky tire" regime when it has been below the speed specified by longitudinalStickyTireThresholdSpeed for this continuous time. More details on the "sticky tire" regime can be found in the documentation of the longitudinalStickyTireThresholdSpeed attribute.

Declaration	float physxVehicle:longitudinalStickyTireThresholdTime = 1
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetLowForwardSpeedSubStepCountAttr

(

)

const

Number of sub-steps performed in the vehicle dynamics update for vehicles that have longitudinal speed lower than subStepThresholdLongitudinalSpeed.

Note: if not defined, the value 3 will be used.

Declaration	int physxVehicle:lowForwardSpeedSubStepCount
C++ Type	int
Usd Type	SdfValueTypeNames->Int

PHYSXSCHEMA_API UsdAttribute GetMinActiveLongitudinalSlipDenominatorAttr

(

)

const

The minimum denominator used in the longitudinal slip calculation when a wheel experiences drive or brake torque (units: distance / seconds).

For low longitudinal velocities, the computation of the longitudinal slip can become unstable. This value defines the minimum velocity to use when computing the longitudinal slip. The value has to be positive.

Note: the default value 0 is not a valid value as such but will result in the value 0.1 being used (in meter length scale or the equivalent if another unit is used).

Note: it is recommended to have minActiveLongitudinalSlipDenominator < minPassiveLongitudinalSlipDenominator.

Declaration	float physxVehicle:minActiveLongitudinalSlipDenominator = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetMinLateralSlipDenominatorAttr

(

)

const

The minimum denominator used in the lateral slip calculation (units: distance / seconds).

For low longitudinal velocities, the computation of the lateral slip can become unstable. This value defines the minimum longitudinal velocity to use when computing the lateral slip. The value has to be positive.

Note: the default value 0 is not a valid value as such but will result in the value 1.0 being used (in meter length scale or the equivalent if another unit is used).

Note: larger simulation timesteps typically require larger values of minLateralSlipDenominator.

Declaration	float physxVehicle:minLateralSlipDenominator = 0
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetMinLongitudinalSlipDenominatorAttr

(

)

const

Deprecated.

Please use minPassiveLongitudinalSlipDenominator instead.

The minimum denominator used in the longitudinal slip calculation (units: distance / seconds). For low longitudinal velocities, the computation of the longitudinal slip can become unstable. This value defines the minimum velocity to use when computing the longitudinal slip.

Note: will be ignored if minPassiveLongitudinalSlipDenominator is used.

Note: if not defined, the value 4.0 will be used. This default value is in meter length scale and will get adjusted if another unit is used.

Declaration	float physxVehicle:minLongitudinalSlipDenominator
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetMinPassiveLongitudinalSlipDenominatorAttr

(

)

const

The minimum denominator used in the longitudinal slip calculation when a wheel experiences no drive and no brake torque (units: distance / seconds).

For low longitudinal velocities, the computation of the longitudinal slip can become unstable. This value defines the minimum velocity to use when computing the longitudinal slip. The value has to be positive.

Note: the default value 0 is not a valid value as such but indicates that the deprecated attribute minLongitudinalSlipDenominator should be used instead.

Note: it is recommended to have minActiveLongitudinalSlipDenominator < minPassiveLongitudinalSlipDenominator.

Declaration	float physxVehicle:minPassiveLongitudinalSlipDenominator = 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.

PHYSXSCHEMA_API UsdAttribute GetSubStepThresholdLongitudinalSpeedAttr

(

)

const

Threshold speed that is used to categorize vehicle speed as low speed or high speed for choosing the sub-step count (units: distance / seconds).

Note: if not defined, the value 5.0 will be used. This default value is in meter length scale and will get adjusted if another unit is used.

Declaration	float physxVehicle:subStepThresholdLongitudinalSpeed
C++ Type	float
Usd Type	SdfValueTypeNames->Float

PHYSXSCHEMA_API UsdAttribute GetSuspensionLineQueryTypeAttr

(

)

const

Collision of the wheels with the ground surface is detected through scene queries along the suspension direction.

This attribute defines whether a raycast or a sweep should be used as the query type. Raycasts are faster while sweeps can represent the wheel shape better and thus react earlier to ground surface changes.

Declaration	uniform token physxVehicle:suspensionLineQueryType = "raycast"
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Variability	SdfVariabilityUniform
Allowed Values	raycast, sweep

PHYSXSCHEMA_API UsdAttribute GetVehicleEnabledAttr

(

)

const

Defines whether the vehicle simulation update loop will run for the vehicle or not.

Note: if set to false, the prim's rigid body will still get simulated (the PhysicsRigidBodyAPI API schema can be used to turn the body into a kinematic or set velocities to zero at that point).

Note: it is an illegal setup to have a vehicle enabled, while the prim's rigid body is disabled or kinematic.

Declaration	bool physxVehicle:vehicleEnabled = 1
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

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 70 of file physxVehicleAPI.h.

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

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