The PhysicsJointStateAPI is applied to a joint primitive (i.e. More...
Inherits UsdAPISchemaBase.
Public Member Functions | |
PhysxSchemaJointStateAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken()) | |
Construct a PhysxSchemaJointStateAPI on UsdPrim prim with name name . More... | |
PhysxSchemaJointStateAPI (const UsdSchemaBase &schemaObj, const TfToken &name) | |
Construct a PhysxSchemaJointStateAPI on the prim held by schemaObj with name name . More... | |
virtual PHYSXSCHEMA_API | ~PhysxSchemaJointStateAPI () |
Destructor. More... | |
TfToken | GetName () const |
Returns the name of this multiple-apply schema instance. More... | |
PHYSXSCHEMA_API UsdAttribute | GetPositionAttr () const |
Joint state position defines the relative difference between joint body0 frame and joint body1 frame in world frame. More... | |
PHYSXSCHEMA_API UsdAttribute | CreatePositionAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetPositionAttr(), and also Usd_Create_Or_Get_Property for when to use Get vs Create. More... | |
PHYSXSCHEMA_API UsdAttribute | GetVelocityAttr () const |
Joint state velocity defines the relative velocity between joint body0 and joint body1. More... | |
PHYSXSCHEMA_API UsdAttribute | CreateVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const |
See GetVelocityAttr(), 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, const TfToken instanceName=TfToken()) |
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 PhysxSchemaJointStateAPI | Get (const UsdStagePtr &stage, const SdfPath &path) |
Return a PhysxSchemaJointStateAPI holding the prim adhering to this schema at path on stage . More... | |
static PHYSXSCHEMA_API PhysxSchemaJointStateAPI | Get (const UsdPrim &prim, const TfToken &name) |
Return a PhysxSchemaJointStateAPI with name name holding the prim prim . More... | |
static PHYSXSCHEMA_API bool | IsSchemaPropertyBaseName (const TfToken &baseName) |
Checks if the given name baseName is the base name of a property of PhysicsJointStateAPI. More... | |
static PHYSXSCHEMA_API bool | IsPhysicsJointStateAPIPath (const SdfPath &path, TfToken *name) |
Checks if the given path path is of an API schema of type PhysicsJointStateAPI. More... | |
static PHYSXSCHEMA_API PhysxSchemaJointStateAPI | 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 UsdSchemaType | schemaType = UsdSchemaType::MultipleApplyAPI |
Compile time constant representing what kind of schema this class is. More... | |
Protected Member Functions | |
PHYSXSCHEMA_API UsdSchemaType | _GetSchemaType () const override |
Returns the type of schema this class belongs to. More... | |
Friends | |
class | UsdSchemaRegistry |
The PhysicsJointStateAPI is applied to a joint primitive (i.e.
any PhysicsJoint-derived type) and provides read/write access to the joint position and velocity for a specific joint axis. The PhysicsJointStateAPI is a multipleApply schema, and its instance name TfToken defines the joint axis: The name can be "transX", "transY", "transZ", "rotX", "rotY", "rotZ" or its "linear" for prismatic joint or "angular" for revolute joints, respectively.
Definition at line 63 of file jointStateAPI.h.
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inlineexplicit |
Construct a PhysxSchemaJointStateAPI on UsdPrim prim
with name name
.
Equivalent to PhysxSchemaJointStateAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "state:name"));
for a valid prim
, but will not immediately throw an error for an invalid prim
Definition at line 80 of file jointStateAPI.h.
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inlineexplicit |
Construct a PhysxSchemaJointStateAPI on the prim held by schemaObj
with name name
.
Should be preferred over PhysxSchemaJointStateAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.
Definition at line 89 of file jointStateAPI.h.
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virtual |
Destructor.
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overrideprotected |
Returns the type of schema this class belongs to.
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static |
Applies this multiple-apply API schema to the given prim
along with the given instance name, name
.
This information is stored by adding "PhysicsJointStateAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name
is 'instance1', the token 'PhysicsJointStateAPI:instance1' is added to 'apiSchemas'.
PHYSXSCHEMA_API UsdAttribute CreatePositionAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetPositionAttr(), 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 CreateVelocityAttr | ( | VtValue const & | defaultValue = VtValue() , |
bool | writeSparsely = false |
||
) | const |
See GetVelocityAttr(), 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
.
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static |
Return a PhysxSchemaJointStateAPI 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>.state:name .
This is shorthand for the following:
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static |
Return a PhysxSchemaJointStateAPI with name name
holding the prim prim
.
Shorthand for PhysxSchemaJointStateAPI(prim, name);
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inline |
Returns the name of this multiple-apply schema instance.
Definition at line 109 of file jointStateAPI.h.
PHYSXSCHEMA_API UsdAttribute GetPositionAttr | ( | ) | const |
Joint state position defines the relative difference between joint body0 frame and joint body1 frame in world frame.
Range: (-inf, inf) Units: linear - distance angular - degrees
Declaration | float physics:position = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
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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 GetVelocityAttr | ( | ) | const |
Joint state velocity defines the relative velocity between joint body0 and joint body1.
Range: (-inf, inf) Units: linear - distance / seconds angular - degrees / seconds
Declaration | float physics:velocity = 0 |
C++ Type | float |
Usd Type | SdfValueTypeNames->Float |
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static |
Checks if the given path path
is of an API schema of type PhysicsJointStateAPI.
If so, it stores the instance name of the schema in name
and returns true. Otherwise, it returns false.
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static |
Checks if the given name baseName
is the base name of a property of PhysicsJointStateAPI.
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static |
Compile time constant representing what kind of schema this class is.
Definition at line 69 of file jointStateAPI.h.