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jointStateAPI.h
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2 // Copyright 2016 Pixar
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24 #ifndef PHYSXSCHEMA_GENERATED_JOINTSTATEAPI_H
25 #define PHYSXSCHEMA_GENERATED_JOINTSTATEAPI_H
26 
28 
29 #include "pxr/pxr.h"
30 #include ".//api.h"
31 #include "pxr/usd/usd/apiSchemaBase.h"
32 #include "pxr/usd/usd/prim.h"
33 #include "pxr/usd/usd/stage.h"
34 #include ".//tokens.h"
35 
36 #include "pxr/base/vt/value.h"
37 
38 #include "pxr/base/gf/vec3d.h"
39 #include "pxr/base/gf/vec3f.h"
40 #include "pxr/base/gf/matrix4d.h"
41 
42 #include "pxr/base/tf/token.h"
43 #include "pxr/base/tf/type.h"
44 
45 PXR_NAMESPACE_OPEN_SCOPE
46 
47 class SdfAssetPath;
48 
49 // -------------------------------------------------------------------------- //
50 // PHYSICSJOINTSTATEAPI //
51 // -------------------------------------------------------------------------- //
52 
63 class PhysxSchemaJointStateAPI : public UsdAPISchemaBase
64 {
65 public:
69  static const UsdSchemaKind schemaKind = UsdSchemaKind::MultipleApplyAPI;
70 
81  const UsdPrim& prim=UsdPrim(), const TfToken &name=TfToken())
82  : UsdAPISchemaBase(prim, /*instanceName*/ name)
83  { }
84 
90  const UsdSchemaBase& schemaObj, const TfToken &name)
91  : UsdAPISchemaBase(schemaObj, /*instanceName*/ name)
92  { }
93 
95  PHYSXSCHEMA_API
96  virtual ~PhysxSchemaJointStateAPI();
97 
101  PHYSXSCHEMA_API
102  static const TfTokenVector &
103  GetSchemaAttributeNames(bool includeInherited=true);
104 
110  PHYSXSCHEMA_API
111  static TfTokenVector
112  GetSchemaAttributeNames(bool includeInherited, const TfToken &instanceName);
113 
115  TfToken GetName() const {
116  return _GetInstanceName();
117  }
118 
133  PHYSXSCHEMA_API
135  Get(const UsdStagePtr &stage, const SdfPath &path);
136 
139  PHYSXSCHEMA_API
141  Get(const UsdPrim &prim, const TfToken &name);
142 
145  PHYSXSCHEMA_API
146  static std::vector<PhysxSchemaJointStateAPI>
147  GetAll(const UsdPrim &prim);
148 
151  PHYSXSCHEMA_API
152  static bool
153  IsSchemaPropertyBaseName(const TfToken &baseName);
154 
158  PHYSXSCHEMA_API
159  static bool
160  IsPhysicsJointStateAPIPath(const SdfPath &path, TfToken *name);
161 
178  PHYSXSCHEMA_API
179  static bool
180  CanApply(const UsdPrim &prim, const TfToken &name,
181  std::string *whyNot=nullptr);
182 
202  PHYSXSCHEMA_API
204  Apply(const UsdPrim &prim, const TfToken &name);
205 
206 protected:
210  PHYSXSCHEMA_API
211  UsdSchemaKind _GetSchemaKind() const override;
212 
213 private:
214  // needs to invoke _GetStaticTfType.
215  friend class UsdSchemaRegistry;
216  PHYSXSCHEMA_API
217  static const TfType &_GetStaticTfType();
218 
219  static bool _IsTypedSchema();
220 
221  // override SchemaBase virtuals.
222  PHYSXSCHEMA_API
223  const TfType &_GetTfType() const override;
224 
225 public:
226  // --------------------------------------------------------------------- //
227  // POSITION
228  // --------------------------------------------------------------------- //
240  PHYSXSCHEMA_API
241  UsdAttribute GetPositionAttr() const;
242 
248  PHYSXSCHEMA_API
249  UsdAttribute CreatePositionAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
250 
251 public:
252  // --------------------------------------------------------------------- //
253  // VELOCITY
254  // --------------------------------------------------------------------- //
266  PHYSXSCHEMA_API
267  UsdAttribute GetVelocityAttr() const;
268 
274  PHYSXSCHEMA_API
275  UsdAttribute CreateVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
276 
277 public:
278  // ===================================================================== //
279  // Feel free to add custom code below this line, it will be preserved by
280  // the code generator.
281  //
282  // Just remember to:
283  // - Close the class declaration with };
284  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
285  // - Close the include guard with #endif
286  // ===================================================================== //
287  // --(BEGIN CUSTOM CODE)--
288 };
289 
290 PXR_NAMESPACE_CLOSE_SCOPE
291 
292 #endif
PHYSXSCHEMA_API UsdSchemaKind _GetSchemaKind() const override
Returns the kind of schema this class belongs to.
static PHYSXSCHEMA_API bool IsPhysicsJointStateAPIPath(const SdfPath &path, TfToken *name)
Checks if the given path path is of an API schema of type PhysicsJointStateAPI.
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 cl...
PHYSXSCHEMA_API UsdAttribute GetVelocityAttr() const
Joint state velocity defines the relative velocity between joint body0 and joint body1.
virtual PHYSXSCHEMA_API ~PhysxSchemaJointStateAPI()
Destructor.
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...
static PHYSXSCHEMA_API bool IsSchemaPropertyBaseName(const TfToken &baseName)
Checks if the given name baseName is the base name of a property of PhysicsJointStateAPI.
The PhysicsJointStateAPI is applied to a joint primitive (i.e.
Definition: jointStateAPI.h:63
static PHYSXSCHEMA_API std::vector< PhysxSchemaJointStateAPI > GetAll(const UsdPrim &prim)
Return a vector of all named instances of PhysxSchemaJointStateAPI on the given prim.
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...
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...
static const UsdSchemaKind schemaKind
Compile time constant representing what kind of schema this class is.
Definition: jointStateAPI.h:69
PHYSXSCHEMA_API UsdAttribute GetPositionAttr() const
Joint state position defines the relative difference between joint body0 frame and joint body1 frame ...
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...
PhysxSchemaJointStateAPI(const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
Construct a PhysxSchemaJointStateAPI on UsdPrim prim with name name .
Definition: jointStateAPI.h:80
PhysxSchemaJointStateAPI(const UsdSchemaBase &schemaObj, const TfToken &name)
Construct a PhysxSchemaJointStateAPI on the prim held by schemaObj with name name.
Definition: jointStateAPI.h:89
TfToken GetName() const
Returns the name of this multiple-apply schema instance.
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...