usdrt::PhysxSchemaPhysxArticulationAPI

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

Functions

Variables

class PhysxSchemaPhysxArticulationAPI : public usdrt::UsdAPISchemaBase

PhysX articulation extended parameters.

Public Functions

inline explicit PhysxSchemaPhysxArticulationAPI(const UsdPrim &prim = UsdPrim())

Construct a PhysxSchemaPhysxArticulationAPI on UsdPrim prim. Equivalent to PhysxSchemaPhysxArticulationAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim , but will not immediately throw an error for an invalid prim.

inline explicit PhysxSchemaPhysxArticulationAPI(const UsdSchemaBase &schemaObj)

Construct a PhysxSchemaPhysxArticulationAPI on the prim held by schemaObj . Should be preferred over PhysxSchemaPhysxArticulationAPI(schemaObj.GetPrim()), as it preserves SchemaBase state.

inline virtual ~PhysxSchemaPhysxArticulationAPI()

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 UsdAttribute GetArticulationEnabledAttr() const

Boolean defining whether articulation is enabled or disabled.

Declaration

bool physxArticulation:articulationEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateArticulationEnabledAttr() const

See GetArticulationEnabledAttr(), 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 GetSolverPositionIterationCountAttr() const

Solver position iteration counts for the body. Allowed range [1, 255].

Declaration

int physxArticulation:solverPositionIterationCount = 32

C++ Type

int

Usd Type

SdfValueTypeNames->Int

inline UsdAttribute CreateSolverPositionIterationCountAttr() const

See GetSolverPositionIterationCountAttr(), 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 GetSolverVelocityIterationCountAttr() const

Solver velocity iteration counts for the body. Allowed range [1, 255].

Declaration

int physxArticulation:solverVelocityIterationCount = 1

C++ Type

int

Usd Type

SdfValueTypeNames->Int

inline UsdAttribute CreateSolverVelocityIterationCountAttr() const

See GetSolverVelocityIterationCountAttr(), 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 GetSleepThresholdAttr() const

Mass-normalized kinetic energy threshold below which the articulation may go to sleep. Range: [0, inf) Default: 0.00005 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds.

Declaration

float physxArticulation:sleepThreshold = 0.00005

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateSleepThresholdAttr() const

See GetSleepThresholdAttr(), 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 GetStabilizationThresholdAttr() const

The mass-normalized kinetic energy threshold below which the articulation may participate in stabilization. Range: [0, inf) Default: 0.00001 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds.

Declaration

float physxArticulation:stabilizationThreshold = 0.00001

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateStabilizationThresholdAttr() const

See GetStabilizationThresholdAttr(), 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 GetEnabledSelfCollisionsAttr() const

Boolean defining whether self collisions should be enabled or disabled.

Declaration

bool physxArticulation:enabledSelfCollisions = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateEnabledSelfCollisionsAttr() const

See GetEnabledSelfCollisionsAttr(), 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 PhysxSchemaPhysxArticulationAPI Apply(const UsdPrim &prim)

Applies this single-apply API schema to the given prim. This information is stored by adding “PhysxArticulationAPI” to the token-valued, listOp metadata apiSchemas on the prim.

See also

UsdPrim::GetAppliedSchemas()

See also

UsdPrim::HasAPI()

See also

UsdPrim::ApplyAPI()

See also

UsdPrim::RemoveAPI()

Returns

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

Public Static Attributes

static const UsdSchemaType schemaType = UsdSchemaType::SingleApplyAPI

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.