usdrt::UsdPhysicsDriveAPI

Defined in usdrt/scenegraph/usd/usdPhysics/driveAPI.h

class UsdPhysicsDriveAPI : public usdrt::UsdAPISchemaBase 

The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target. The PhysicsDriveAPI is a multipleApply schema: drive can be set per axis “transX”, “transY”, “transZ”, “rotX”, “rotY”, “rotZ” or its “linear” for prismatic joint or “angular” for revolute joints. Setting these as a multipleApply schema TfToken name will define the degree of freedom the DriveAPI is applied to. Each drive is an implicit force-limited damped spring: Force or acceleration = stiffness * (targetPosition - position)

damping * (targetVelocity - velocity) For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in UsdPhysicsTokens. So to set an attribute to the value “rightHanded”, use UsdPhysicsTokens->rightHanded as the value.

Public Functions

inline explicit UsdPhysicsDriveAPI(const UsdPrim &prim = UsdPrim(), const TfToken &name = TfToken())

Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name . Equivalent to UsdPhysicsDriveAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( “drive:name”));.

for a valid prim , but will not immediately throw an error for an invalid prim

inline explicit UsdPhysicsDriveAPI(const UsdSchemaBase &schemaObj, const TfToken &name): Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name . Should be preferred over UsdPhysicsDriveAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.

inline virtual ~UsdPhysicsDriveAPI(): Destructor.

inline TfToken GetName() const: Returns the name of this multiple-apply schema instance.

inline UsdAttribute GetTypeAttr() const

Drive spring is for the acceleration at the joint (rather than the force).


Declaration	`uniform token physics:type = "force"`
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Variability	SdfVariabilityUniform
Allowed Values	force, acceleration

inline UsdAttribute CreateTypeAttr() const: See GetTypeAttr(), and also Create vs Get Property Methods 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.

inline UsdAttribute GetMaxForceAttr() const

Maximum force that can be applied to drive. Units: if linear drive: mass*DIST_UNITS/second/second if angular drive: mass*DIST_UNITS*DIST_UNITS/second/second inf means not limited. Must be non-negative.


Declaration	`float physics:maxForce = inf`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateMaxForceAttr() const: See GetMaxForceAttr(), and also Create vs Get Property Methods 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.

inline UsdAttribute GetTargetPositionAttr() const

Target value for position. Units: if linear drive: distance if angular drive: degrees.


Declaration	`float physics:targetPosition = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateTargetPositionAttr() const: See GetTargetPositionAttr(), and also Create vs Get Property Methods 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.

inline UsdAttribute GetTargetVelocityAttr() const

Target value for velocity. Units: if linear drive: distance/second if angular drive: degrees/second.


Declaration	`float physics:targetVelocity = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateTargetVelocityAttr() const: See GetTargetVelocityAttr(), and also Create vs Get Property Methods 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.

inline UsdAttribute GetDampingAttr() const

Damping of the drive. Units: if linear drive: mass/second If angular drive: mass*DIST_UNITS*DIST_UNITS/second/second/degrees.


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

inline UsdAttribute CreateDampingAttr() const: See GetDampingAttr(), and also Create vs Get Property Methods 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.

inline UsdAttribute GetStiffnessAttr() const

Stiffness of the drive. Units: if linear drive: mass/second/second if angular drive: mass*DIST_UNITS*DIST_UNITS/degree/second/second.


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

inline UsdAttribute CreateStiffnessAttr() const: See GetStiffnessAttr(), and also Create vs Get Property Methods 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.

UsdPrim GetPrim() const: Return this schema object’s held prim.

SdfPath GetPath() const: Return the SdfPath to this schema object’s held prim.

inline explicit operator bool() const

Check if this schema object is compatible with it’s held prim and that the prim is valid.

A typed schema object is compatible if the held prim’s type is or is a subtype of the schema’s type. Based on prim.IsA().

An API schema object is compatible if the API is of type SingleApplyAPI or UsdSchemaType::MultipleApplyAPI, and the schema has been applied to the prim. Based on prim.HasAPI.

This method invokes polymorphic behaviour.

See also

UsdSchemaBase::_IsCompatible()

Returns: True if the help prim is valid, and the schema object is compatible with its held prim.

Public Static Functions

static inline UsdPhysicsDriveAPI Apply(const UsdPrim &prim, const TfToken &name)

Applies this multiple-apply API schema to the given prim along with the given instance name, name.

This information is stored by adding “PhysicsDriveAPI:<i>name</i>” to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is ‘instance1’, the token ‘PhysicsDriveAPI:instance1’ is added to ‘apiSchemas’.

See also

UsdPrim::GetAppliedSchemas()

See also

UsdPrim::HasAPI()

See also

UsdPrim::ApplyAPI()

See also

UsdPrim::RemoveAPI()

Returns: A valid UsdPhysicsDriveAPI object is returned upon success. An invalid (or empty) UsdPhysicsDriveAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.

Public Static Attributes

static const UsdSchemaType schemaType = UsdSchemaType::MultipleApplyAPI 

Compile time constant representing what kind of schema this class is.

See also

UsdSchemaType

Protected Functions

inline const TfToken &_GetInstanceName() const

Returns the instance name of the API schema object belonging to a multiple-apply API schema.

The returned instance name will be empty for non-applied and single-apply API schemas.

inline virtual bool _IsCompatible() const

Check whether this APISchema object is valid for the currently held prim.

If this is an applied API schema, this returns true if the held prim is valid and already has the API schema applied to it, along with the instanceName (in the case of multiple-apply). The instanceName should not be empty in the case of a multiple-apply API schema.

This check is performed when clients invoke the explicit bool conversion operator, implemented in UsdSchemaBase.

See also

UsdPrim::HasAPI()

inline const TfToken _GetType() const

Helper for subclasses to get this schema’s type token.

Note

This diverges from Usd and returns a TfToken, since we don’t implements TfType.

Returns: The token representing the schema’s TfType.