UsdPhysics module#
Summary: The UsdPhysics module defines the physics-related prim and property schemas that together form a physics simulation representation.
Classes:
- class pxr.UsdPhysics.ArticulationDesc#
Attributes:
- property articulatedBodies#
- property articulatedJoints#
- property filteredCollisions#
- property rootPrims#
- class pxr.UsdPhysics.ArticulationRootAPI#
Methods:
- static Apply()#
- static CanApply()#
- static Get()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.Axis#
Attributes:
- X = pxr.UsdPhysics.Axis.X#
- Y = pxr.UsdPhysics.Axis.Y#
- Z = pxr.UsdPhysics.Axis.Z#
- names = {'X': pxr.UsdPhysics.Axis.X, 'Y': pxr.UsdPhysics.Axis.Y, 'Z': pxr.UsdPhysics.Axis.Z}#
- values = {0: pxr.UsdPhysics.Axis.X, 1: pxr.UsdPhysics.Axis.Y, 2: pxr.UsdPhysics.Axis.Z}#
- class pxr.UsdPhysics.Capsule1ShapeDesc#
Attributes:
- property axis#
- property bottomRadius#
- property halfHeight#
- property topRadius#
- class pxr.UsdPhysics.CapsuleShapeDesc#
Attributes:
- property axis#
- property halfHeight#
- property radius#
- class pxr.UsdPhysics.CollisionAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateCollisionEnabledAttr()#
- CreateSimulationOwnerRel()#
- static Get()#
- GetCollisionEnabledAttr()#
- static GetSchemaAttributeNames()#
- GetSimulationOwnerRel()#
- class pxr.UsdPhysics.CollisionGroup#
Methods:
- static ComputeCollisionGroupTable()#
- CreateFilteredGroupsRel()#
- CreateInvertFilteredGroupsAttr()#
- CreateMergeGroupNameAttr()#
- static Define()#
- static Get()#
- GetCollidersCollectionAPI()#
- GetFilteredGroupsRel()#
- GetInvertFilteredGroupsAttr()#
- GetMergeGroupNameAttr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.CollisionGroupDesc#
Attributes:
- property filteredGroups#
- property invertFilteredGroups#
- property mergeGroupName#
- property mergedGroups#
- class pxr.UsdPhysics.ConeShapeDesc#
Attributes:
- property axis#
- property halfHeight#
- property radius#
- class pxr.UsdPhysics.CustomJointDesc#
- class pxr.UsdPhysics.CustomUsdPhysicsTokens#
Attributes:
- property instancerTokens#
- property jointTokens#
- property shapeTokens#
- class pxr.UsdPhysics.Cylinder1ShapeDesc#
Attributes:
- property axis#
- property bottomRadius#
- property halfHeight#
- property topRadius#
- class pxr.UsdPhysics.CylinderShapeDesc#
Attributes:
- property axis#
- property halfHeight#
- property radius#
- class pxr.UsdPhysics.DistanceJoint#
Methods:
- CreateMaxDistanceAttr()#
- CreateMinDistanceAttr()#
- static Define()#
- static Get()#
- GetMaxDistanceAttr()#
- GetMinDistanceAttr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.DistanceJointDesc#
Attributes:
- property limit#
- property maxEnabled#
- property minEnabled#
- class pxr.UsdPhysics.DriveAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateDampingAttr()#
- CreateMaxForceAttr()#
- CreateStiffnessAttr()#
- CreateTargetPositionAttr()#
- CreateTargetVelocityAttr()#
- CreateTypeAttr()#
- static Get()#
- static GetAll()#
- GetDampingAttr()#
- GetMaxForceAttr()#
- static GetSchemaAttributeNames()#
- GetStiffnessAttr()#
- GetTargetPositionAttr()#
- GetTargetVelocityAttr()#
- GetTypeAttr()#
- static IsPhysicsDriveAPIPath()#
- class pxr.UsdPhysics.FilteredPairsAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateFilteredPairsRel()#
- static Get()#
- GetFilteredPairsRel()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.FixedJoint#
Methods:
- static Define()#
- static Get()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.FixedJointDesc#
- class pxr.UsdPhysics.Joint#
Methods:
- CreateBody0Rel()#
- CreateBody1Rel()#
- CreateBreakForceAttr()#
- CreateBreakTorqueAttr()#
- CreateCollisionEnabledAttr()#
- CreateExcludeFromArticulationAttr()#
- CreateJointEnabledAttr()#
- CreateLocalPos0Attr()#
- CreateLocalPos1Attr()#
- CreateLocalRot0Attr()#
- CreateLocalRot1Attr()#
- static Define()#
- static Get()#
- GetBody0Rel()#
- GetBody1Rel()#
- GetBreakForceAttr()#
- GetBreakTorqueAttr()#
- GetCollisionEnabledAttr()#
- GetExcludeFromArticulationAttr()#
- GetJointEnabledAttr()#
- GetLocalPos0Attr()#
- GetLocalPos1Attr()#
- GetLocalRot0Attr()#
- GetLocalRot1Attr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.JointDOF#
Attributes:
- Distance = pxr.UsdPhysics.JointDOF.Distance#
- RotX = pxr.UsdPhysics.JointDOF.RotX#
- RotY = pxr.UsdPhysics.JointDOF.RotY#
- RotZ = pxr.UsdPhysics.JointDOF.RotZ#
- TransX = pxr.UsdPhysics.JointDOF.TransX#
- TransY = pxr.UsdPhysics.JointDOF.TransY#
- TransZ = pxr.UsdPhysics.JointDOF.TransZ#
- names = {'Distance': pxr.UsdPhysics.JointDOF.Distance, 'RotX': pxr.UsdPhysics.JointDOF.RotX, 'RotY': pxr.UsdPhysics.JointDOF.RotY, 'RotZ': pxr.UsdPhysics.JointDOF.RotZ, 'TransX': pxr.UsdPhysics.JointDOF.TransX, 'TransY': pxr.UsdPhysics.JointDOF.TransY, 'TransZ': pxr.UsdPhysics.JointDOF.TransZ}#
- values = {0: pxr.UsdPhysics.JointDOF.Distance, 1: pxr.UsdPhysics.JointDOF.TransX, 2: pxr.UsdPhysics.JointDOF.TransY, 3: pxr.UsdPhysics.JointDOF.TransZ, 4: pxr.UsdPhysics.JointDOF.RotX, 5: pxr.UsdPhysics.JointDOF.RotY, 6: pxr.UsdPhysics.JointDOF.RotZ}#
- class pxr.UsdPhysics.JointDesc#
Attributes:
- property body0#
- property body1#
- property breakForce#
- property breakTorque#
- property collisionEnabled#
- property excludeFromArticulation#
- property jointEnabled#
- property localPose0Orientation#
- property localPose0Position#
- property localPose1Orientation#
- property localPose1Position#
- property rel0#
- property rel1#
- class pxr.UsdPhysics.JointDrive#
Attributes:
- property acceleration#
- property damping#
- property enabled#
- property forceLimit#
- property stiffness#
- property targetPosition#
- property targetVelocity#
- class pxr.UsdPhysics.LimitAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateHighAttr()#
- CreateLowAttr()#
- static Get()#
- static GetAll()#
- GetHighAttr()#
- GetLowAttr()#
- static GetSchemaAttributeNames()#
- static IsPhysicsLimitAPIPath()#
- class pxr.UsdPhysics.MassAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateCenterOfMassAttr()#
- CreateDensityAttr()#
- CreateDiagonalInertiaAttr()#
- CreateMassAttr()#
- CreatePrincipalAxesAttr()#
- static Get()#
- GetCenterOfMassAttr()#
- GetDensityAttr()#
- GetDiagonalInertiaAttr()#
- GetMassAttr()#
- GetPrincipalAxesAttr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.MaterialAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateDensityAttr()#
- CreateDynamicFrictionAttr()#
- CreateRestitutionAttr()#
- CreateStaticFrictionAttr()#
- static Get()#
- GetDensityAttr()#
- GetDynamicFrictionAttr()#
- GetRestitutionAttr()#
- static GetSchemaAttributeNames()#
- GetStaticFrictionAttr()#
- class pxr.UsdPhysics.MeshCollisionAPI#
Methods:
- static Apply()#
- static CanApply()#
- CreateApproximationAttr()#
- static Get()#
- GetApproximationAttr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.MeshShapeDesc#
Attributes:
- property approximation#
- property doubleSided#
- property meshScale#
- class pxr.UsdPhysics.ObjectType#
Attributes:
- Articulation = pxr.UsdPhysics.ObjectType.Articulation#
- Capsule1Shape = pxr.UsdPhysics.ObjectType.Capsule1Shape#
- CapsuleShape = pxr.UsdPhysics.ObjectType.CapsuleShape#
- CollisionGroup = pxr.UsdPhysics.ObjectType.CollisionGroup#
- ConeShape = pxr.UsdPhysics.ObjectType.ConeShape#
- CubeShape = pxr.UsdPhysics.ObjectType.CubeShape#
- CustomJoint = pxr.UsdPhysics.ObjectType.CustomJoint#
- CustomShape = pxr.UsdPhysics.ObjectType.CustomShape#
- Cylinder1Shape = pxr.UsdPhysics.ObjectType.Cylinder1Shape#
- CylinderShape = pxr.UsdPhysics.ObjectType.CylinderShape#
- D6Joint = pxr.UsdPhysics.ObjectType.D6Joint#
- DistanceJoint = pxr.UsdPhysics.ObjectType.DistanceJoint#
- FixedJoint = pxr.UsdPhysics.ObjectType.FixedJoint#
- MeshShape = pxr.UsdPhysics.ObjectType.MeshShape#
- PlaneShape = pxr.UsdPhysics.ObjectType.PlaneShape#
- PrismaticJoint = pxr.UsdPhysics.ObjectType.PrismaticJoint#
- RevoluteJoint = pxr.UsdPhysics.ObjectType.RevoluteJoint#
- RigidBody = pxr.UsdPhysics.ObjectType.RigidBody#
- RigidBodyMaterial = pxr.UsdPhysics.ObjectType.RigidBodyMaterial#
- Scene = pxr.UsdPhysics.ObjectType.Scene#
- SpherePointsShape = pxr.UsdPhysics.ObjectType.SpherePointsShape#
- SphereShape = pxr.UsdPhysics.ObjectType.SphereShape#
- SphericalJoint = pxr.UsdPhysics.ObjectType.SphericalJoint#
- Undefined = pxr.UsdPhysics.ObjectType.Undefined#
- names = {'Articulation': pxr.UsdPhysics.ObjectType.Articulation, 'Capsule1Shape': pxr.UsdPhysics.ObjectType.Capsule1Shape, 'CapsuleShape': pxr.UsdPhysics.ObjectType.CapsuleShape, 'CollisionGroup': pxr.UsdPhysics.ObjectType.CollisionGroup, 'ConeShape': pxr.UsdPhysics.ObjectType.ConeShape, 'CubeShape': pxr.UsdPhysics.ObjectType.CubeShape, 'CustomJoint': pxr.UsdPhysics.ObjectType.CustomJoint, 'CustomShape': pxr.UsdPhysics.ObjectType.CustomShape, 'Cylinder1Shape': pxr.UsdPhysics.ObjectType.Cylinder1Shape, 'CylinderShape': pxr.UsdPhysics.ObjectType.CylinderShape, 'D6Joint': pxr.UsdPhysics.ObjectType.D6Joint, 'DistanceJoint': pxr.UsdPhysics.ObjectType.DistanceJoint, 'FixedJoint': pxr.UsdPhysics.ObjectType.FixedJoint, 'MeshShape': pxr.UsdPhysics.ObjectType.MeshShape, 'PlaneShape': pxr.UsdPhysics.ObjectType.PlaneShape, 'PrismaticJoint': pxr.UsdPhysics.ObjectType.PrismaticJoint, 'RevoluteJoint': pxr.UsdPhysics.ObjectType.RevoluteJoint, 'RigidBody': pxr.UsdPhysics.ObjectType.RigidBody, 'RigidBodyMaterial': pxr.UsdPhysics.ObjectType.RigidBodyMaterial, 'Scene': pxr.UsdPhysics.ObjectType.Scene, 'SpherePointsShape': pxr.UsdPhysics.ObjectType.SpherePointsShape, 'SphereShape': pxr.UsdPhysics.ObjectType.SphereShape, 'SphericalJoint': pxr.UsdPhysics.ObjectType.SphericalJoint, 'Undefined': pxr.UsdPhysics.ObjectType.Undefined}#
- values = {0: pxr.UsdPhysics.ObjectType.Undefined, 1: pxr.UsdPhysics.ObjectType.Scene, 2: pxr.UsdPhysics.ObjectType.RigidBody, 3: pxr.UsdPhysics.ObjectType.SphereShape, 4: pxr.UsdPhysics.ObjectType.CubeShape, 5: pxr.UsdPhysics.ObjectType.CapsuleShape, 6: pxr.UsdPhysics.ObjectType.Capsule1Shape, 7: pxr.UsdPhysics.ObjectType.CylinderShape, 8: pxr.UsdPhysics.ObjectType.Cylinder1Shape, 9: pxr.UsdPhysics.ObjectType.ConeShape, 10: pxr.UsdPhysics.ObjectType.MeshShape, 11: pxr.UsdPhysics.ObjectType.PlaneShape, 12: pxr.UsdPhysics.ObjectType.CustomShape, 13: pxr.UsdPhysics.ObjectType.SpherePointsShape, 14: pxr.UsdPhysics.ObjectType.FixedJoint, 15: pxr.UsdPhysics.ObjectType.RevoluteJoint, 16: pxr.UsdPhysics.ObjectType.PrismaticJoint, 17: pxr.UsdPhysics.ObjectType.SphericalJoint, 18: pxr.UsdPhysics.ObjectType.DistanceJoint, 19: pxr.UsdPhysics.ObjectType.D6Joint, 20: pxr.UsdPhysics.ObjectType.CustomJoint, 21: pxr.UsdPhysics.ObjectType.RigidBodyMaterial, 22: pxr.UsdPhysics.ObjectType.Articulation, 23: pxr.UsdPhysics.ObjectType.CollisionGroup}#
- class pxr.UsdPhysics.PrismaticJoint#
Methods:
- CreateAxisAttr()#
- CreateLowerLimitAttr()#
- CreateUpperLimitAttr()#
- static Define()#
- static Get()#
- GetAxisAttr()#
- GetLowerLimitAttr()#
- static GetSchemaAttributeNames()#
- GetUpperLimitAttr()#
- class pxr.UsdPhysics.RevoluteJoint#
Methods:
- CreateAxisAttr()#
- CreateLowerLimitAttr()#
- CreateUpperLimitAttr()#
- static Define()#
- static Get()#
- GetAxisAttr()#
- GetLowerLimitAttr()#
- static GetSchemaAttributeNames()#
- GetUpperLimitAttr()#
- class pxr.UsdPhysics.RigidBodyAPI#
Classes:
Methods:
- class MassInformation#
Attributes:
- property centerOfMass#
- property inertia#
- property localPos#
- property localRot#
- property volume#
- static Apply()#
- static CanApply()#
- ComputeMassProperties()#
- CreateAngularVelocityAttr()#
- CreateKinematicEnabledAttr()#
- CreateRigidBodyEnabledAttr()#
- CreateSimulationOwnerRel()#
- CreateStartsAsleepAttr()#
- CreateVelocityAttr()#
- static Get()#
- GetAngularVelocityAttr()#
- GetKinematicEnabledAttr()#
- GetRigidBodyEnabledAttr()#
- static GetSchemaAttributeNames()#
- GetSimulationOwnerRel()#
- GetStartsAsleepAttr()#
- GetVelocityAttr()#
- class pxr.UsdPhysics.RigidBodyDesc#
Attributes:
- property angularVelocity#
- property collisions#
- property filteredCollisions#
- property kinematicBody#
- property linearVelocity#
- property position#
- property rigidBodyEnabled#
- property rotation#
- property scale#
- property simulationOwners#
- property startsAsleep#
- class pxr.UsdPhysics.RigidBodyMaterialDesc#
Attributes:
- property density#
- property dynamicFriction#
- property restitution#
- property staticFriction#
- class pxr.UsdPhysics.Scene#
Methods:
- CreateGravityDirectionAttr()#
- CreateGravityMagnitudeAttr()#
- static Define()#
- static Get()#
- GetGravityDirectionAttr()#
- GetGravityMagnitudeAttr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.ShapeDesc#
Attributes:
- property collisionEnabled#
- property collisionGroups#
- property filteredCollisions#
- property localPos#
- property localRot#
- property localScale#
- property materials#
- property rigidBody#
- property simulationOwners#
- class pxr.UsdPhysics.SphericalJoint#
Methods:
- CreateAxisAttr()#
- CreateConeAngle0LimitAttr()#
- CreateConeAngle1LimitAttr()#
- static Define()#
- static Get()#
- GetAxisAttr()#
- GetConeAngle0LimitAttr()#
- GetConeAngle1LimitAttr()#
- static GetSchemaAttributeNames()#
- class pxr.UsdPhysics.Tokens#
Attributes:
- PhysicsArticulationRootAPI = 'PhysicsArticulationRootAPI'#
- PhysicsCollisionAPI = 'PhysicsCollisionAPI'#
- PhysicsCollisionGroup = 'PhysicsCollisionGroup'#
- PhysicsDistanceJoint = 'PhysicsDistanceJoint'#
- PhysicsDriveAPI = 'PhysicsDriveAPI'#
- PhysicsFilteredPairsAPI = 'PhysicsFilteredPairsAPI'#
- PhysicsFixedJoint = 'PhysicsFixedJoint'#
- PhysicsJoint = 'PhysicsJoint'#
- PhysicsLimitAPI = 'PhysicsLimitAPI'#
- PhysicsMassAPI = 'PhysicsMassAPI'#
- PhysicsMaterialAPI = 'PhysicsMaterialAPI'#
- PhysicsMeshCollisionAPI = 'PhysicsMeshCollisionAPI'#
- PhysicsPrismaticJoint = 'PhysicsPrismaticJoint'#
- PhysicsRevoluteJoint = 'PhysicsRevoluteJoint'#
- PhysicsRigidBodyAPI = 'PhysicsRigidBodyAPI'#
- PhysicsScene = 'PhysicsScene'#
- PhysicsSphericalJoint = 'PhysicsSphericalJoint'#
- acceleration = 'acceleration'#
- angular = 'angular'#
- boundingCube = 'boundingCube'#
- boundingSphere = 'boundingSphere'#
- colliders = 'colliders'#
- convexDecomposition = 'convexDecomposition'#
- convexHull = 'convexHull'#
- distance = 'distance'#
- drive = 'drive'#
- drive_MultipleApplyTemplate_PhysicsDamping = 'drive:__INSTANCE_NAME__:physics:damping'#
- drive_MultipleApplyTemplate_PhysicsMaxForce = 'drive:__INSTANCE_NAME__:physics:maxForce'#
- drive_MultipleApplyTemplate_PhysicsStiffness = 'drive:__INSTANCE_NAME__:physics:stiffness'#
- drive_MultipleApplyTemplate_PhysicsTargetPosition = 'drive:__INSTANCE_NAME__:physics:targetPosition'#
- drive_MultipleApplyTemplate_PhysicsTargetVelocity = 'drive:__INSTANCE_NAME__:physics:targetVelocity'#
- drive_MultipleApplyTemplate_PhysicsType = 'drive:__INSTANCE_NAME__:physics:type'#
- force = 'force'#
- kilogramsPerUnit = 'kilogramsPerUnit'#
- limit = 'limit'#
- limit_MultipleApplyTemplate_PhysicsHigh = 'limit:__INSTANCE_NAME__:physics:high'#
- limit_MultipleApplyTemplate_PhysicsLow = 'limit:__INSTANCE_NAME__:physics:low'#
- linear = 'linear'#
- meshSimplification = 'meshSimplification'#
- none = 'none'#
- physicsAngularVelocity = 'physics:angularVelocity'#
- physicsApproximation = 'physics:approximation'#
- physicsAxis = 'physics:axis'#
- physicsBody0 = 'physics:body0'#
- physicsBody1 = 'physics:body1'#
- physicsBreakForce = 'physics:breakForce'#
- physicsBreakTorque = 'physics:breakTorque'#
- physicsCenterOfMass = 'physics:centerOfMass'#
- physicsCollisionEnabled = 'physics:collisionEnabled'#
- physicsConeAngle0Limit = 'physics:coneAngle0Limit'#
- physicsConeAngle1Limit = 'physics:coneAngle1Limit'#
- physicsDensity = 'physics:density'#
- physicsDiagonalInertia = 'physics:diagonalInertia'#
- physicsDynamicFriction = 'physics:dynamicFriction'#
- physicsExcludeFromArticulation = 'physics:excludeFromArticulation'#
- physicsFilteredGroups = 'physics:filteredGroups'#
- physicsFilteredPairs = 'physics:filteredPairs'#
- physicsGravityDirection = 'physics:gravityDirection'#
- physicsGravityMagnitude = 'physics:gravityMagnitude'#
- physicsInvertFilteredGroups = 'physics:invertFilteredGroups'#
- physicsJointEnabled = 'physics:jointEnabled'#
- physicsKinematicEnabled = 'physics:kinematicEnabled'#
- physicsLocalPos0 = 'physics:localPos0'#
- physicsLocalPos1 = 'physics:localPos1'#
- physicsLocalRot0 = 'physics:localRot0'#
- physicsLocalRot1 = 'physics:localRot1'#
- physicsLowerLimit = 'physics:lowerLimit'#
- physicsMass = 'physics:mass'#
- physicsMaxDistance = 'physics:maxDistance'#
- physicsMergeGroup = 'physics:mergeGroup'#
- physicsMinDistance = 'physics:minDistance'#
- physicsPrincipalAxes = 'physics:principalAxes'#
- physicsRestitution = 'physics:restitution'#
- physicsRigidBodyEnabled = 'physics:rigidBodyEnabled'#
- physicsSimulationOwner = 'physics:simulationOwner'#
- physicsStartsAsleep = 'physics:startsAsleep'#
- physicsStaticFriction = 'physics:staticFriction'#
- physicsUpperLimit = 'physics:upperLimit'#
- physicsVelocity = 'physics:velocity'#
- rotX = 'rotX'#
- rotY = 'rotY'#
- rotZ = 'rotZ'#
- transX = 'transX'#
- transY = 'transY'#
- transZ = 'transZ'#
- x = 'X'#
- y = 'Y'#
- z = 'Z'#