usdrt::PhysxSchemaJointStateAPI

Defined in usdrt/scenegraph/usd/physxSchema/jointStateAPI.h

Functions

Variables

class PhysxSchemaJointStateAPI : public usdrt::UsdAPISchemaBase

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.

Public Functions

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

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

inline explicit PhysxSchemaJointStateAPI(const UsdSchemaBase &schemaObj, const TfToken &name)

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.

inline virtual ~PhysxSchemaJointStateAPI()

Destructor.

inline operator bool() const

Boolean operator.

Returns

Return true if the contained prim is has this api schema applied using HasAPI, and false otherwise.

inline TfToken GetName() const

Returns the name of this multiple-apply schema instance.

inline 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

inline UsdAttribute CreatePositionAttr() const

See GetPositionAttr(), 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 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

inline UsdAttribute CreateVelocityAttr() const

See GetVelocityAttr(), 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.

Public Static Functions

static inline 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.

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’.

See also

UsdPrim::GetAppliedSchemas()

See also

UsdPrim::HasAPI()

See also

UsdPrim::ApplyAPI()

See also

UsdPrim::RemoveAPI()

Returns

A valid PhysxSchemaJointStateAPI object is returned upon success. An invalid (or empty) PhysxSchemaJointStateAPI 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.