UsdPhysicsJoint#

Fully qualified name: usdrt::UsdPhysicsJoint

class UsdPhysicsJoint : public usdrt::UsdGeomImageable #

A joint constrains the movement of rigid bodies. Joint can be created between two rigid bodies or between one rigid body and world. By default joint primitive defines a D6 joint where all degrees of freedom are free. Three linear and three angular degrees of freedom. Note that default behavior is to disable collision between jointed bodies.

Subclassed by usdrt::PhysxSchemaPhysxPhysicsGearJoint, usdrt::PhysxSchemaPhysxPhysicsRackAndPinionJoint, usdrt::UsdPhysicsDistanceJoint, usdrt::UsdPhysicsFixedJoint, usdrt::UsdPhysicsPrismaticJoint, usdrt::UsdPhysicsRevoluteJoint, usdrt::UsdPhysicsSphericalJoint

Public Functions

inline explicit UsdPhysicsJoint(const UsdPrim &prim = UsdPrim())#: Construct a UsdPhysicsJoint on UsdPrim prim. Equivalent to UsdPhysicsJoint::Get(prim.GetStage(), prim.GetPath()) for a valid prim , but will not immediately throw an error for an invalid prim.

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

inline virtual ~UsdPhysicsJoint()#: Destructor.

inline UsdAttribute GetLocalPos0Attr() const#

Relative position of the joint frame to body0’s frame.


Declaration	`point3f physics:localPos0 = (0, 0, 0)`
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

inline UsdAttribute CreateLocalPos0Attr() const#: See GetLocalPos0Attr(), 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 GetLocalRot0Attr() const#

Relative orientation of the joint frame to body0’s frame.


Declaration	`quatf physics:localRot0 = (1, 0, 0, 0)`
C++ Type	GfQuatf
Usd Type	SdfValueTypeNames->Quatf

inline UsdAttribute CreateLocalRot0Attr() const#: See GetLocalRot0Attr(), 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 GetLocalPos1Attr() const#

Relative position of the joint frame to body1’s frame.


Declaration	`point3f physics:localPos1 = (0, 0, 0)`
C++ Type	GfVec3f
Usd Type	SdfValueTypeNames->Point3f

inline UsdAttribute CreateLocalPos1Attr() const#: See GetLocalPos1Attr(), 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 GetLocalRot1Attr() const#

Relative orientation of the joint frame to body1’s frame.


Declaration	`quatf physics:localRot1 = (1, 0, 0, 0)`
C++ Type	GfQuatf
Usd Type	SdfValueTypeNames->Quatf

inline UsdAttribute CreateLocalRot1Attr() const#: See GetLocalRot1Attr(), 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 GetJointEnabledAttr() const#

Determines if the joint is enabled.


Declaration	`bool physics:jointEnabled = 1`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateJointEnabledAttr() const#: See GetJointEnabledAttr(), 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 GetCollisionEnabledAttr() const#

Determines if the jointed subtrees should collide or not.


Declaration	`bool physics:collisionEnabled = 0`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateCollisionEnabledAttr() const#: See GetCollisionEnabledAttr(), 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 GetExcludeFromArticulationAttr() const#

Determines if the joint can be included in an Articulation.


Declaration	`uniform bool physics:excludeFromArticulation = 0`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool
Variability	SdfVariabilityUniform

inline UsdAttribute CreateExcludeFromArticulationAttr() const#: See GetExcludeFromArticulationAttr(), 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 GetBreakForceAttr() const#

Joint break force. If set, joint is to break when this force limit is reached. (Used for linear DOFs.) Units: mass * distance / second / second.


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

inline UsdAttribute CreateBreakForceAttr() const#: See GetBreakForceAttr(), 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 GetBreakTorqueAttr() const#

Joint break torque. If set, joint is to break when this torque limit is reached. (Used for angular DOFs.) Units: mass * distance * distance / second / second.


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

inline UsdAttribute CreateBreakTorqueAttr() const#: See GetBreakTorqueAttr(), 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 UsdRelationship GetBody0Rel() const#: Relationship to any UsdGeomXformable.

inline UsdRelationship CreateBody0Rel() const#: See GetBody0Rel(), and also Create vs Get Property Methods for when to use Get vs Create.

inline UsdRelationship GetBody1Rel() const#: Relationship to any UsdGeomXformable.

inline UsdRelationship CreateBody1Rel() const#: See GetBody1Rel(), and also Create vs Get Property Methods for when to use Get vs Create.

inline UsdAttribute GetVisibilityAttr() const#

Visibility is meant to be the simplest form of “pruning” visibility that is supported by most DCC apps. Visibility is animatable, allowing a sub-tree of geometry to be present for some segment of a shot, and absent from others; unlike the action of deactivating geometry prims, invisible geometry is still available for inspection, for positioning, for defining volumes, etc.


Declaration	`token visibility = "inherited"`
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Allowed Values	inherited, invisible

inline UsdAttribute CreateVisibilityAttr() const#: See GetVisibilityAttr(), 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 GetPurposeAttr() const#

Purpose is a classification of geometry into categories that can each be independently included or excluded from traversals of prims on a stage, such as rendering or bounding-box computation traversals.

See UsdGeom_ImageablePurpose for more detail about how purpose is computed and used.


Declaration	`uniform token purpose = "default"`
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Variability	SdfVariabilityUniform
Allowed Values	default, render, proxy, guide

inline UsdAttribute CreatePurposeAttr() const#: See GetPurposeAttr(), 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 UsdRelationship GetProxyPrimRel() const#

The proxyPrim relationship allows us to link a prim whose purpose is “render” to its (single target) purpose=”proxy” prim. This is entirely optional, but can be useful in several scenarios:

In a pipeline that does pruning (for complexity management) by deactivating prims composed from asset references, when we deactivate a purpose=”render” prim, we will be able to discover and additionally deactivate its associated purpose=”proxy” prim, so that preview renders reflect the pruning accurately.

DCC importers may be able to make more aggressive optimizations for interactive processing and display if they can discover the proxy for a given render prim.

With a little more work, a Hydra-based application will be able to map a picked proxy prim back to its render geometry for selection.

Note

It is only valid to author the proxyPrim relationship on prims whose purpose is “render”.

inline UsdRelationship CreateProxyPrimRel() const#: See GetProxyPrimRel(), and also Create vs Get Property Methods for when to use Get vs Create.

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.