usdrt::PhysxSchemaPhysxArticulationForceSensorAPI

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

Functions

Variables

class PhysxSchemaPhysxArticulationForceSensorAPI : public usdrt::UsdAPISchemaBase

WARNING: THIS API IS DEPRECATED AND WILL BE REMOVED IN A FUTURE RELEASE. PhysX articulation sensor to measure spatial force. Articulation sensor API must be applied to a UsdGeom.Xformable in order to get a transformation information. The UsdGeom.Xformable must be created under the articulated rigid body in order to compute a relative transformation between the body and the sensor.

Public Functions

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

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

inline explicit PhysxSchemaPhysxArticulationForceSensorAPI(const UsdSchemaBase &schemaObj)

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

inline virtual ~PhysxSchemaPhysxArticulationForceSensorAPI()

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 GetForceAttr() const

Spatial force in the local frame of the sensor computed by the simulation. Units: force.

Declaration

vector3f physxArticulationForceSensor:force = (0, 0, 0)

C++ Type

GfVec3f

Usd Type

SdfValueTypeNames->Vector3f

inline UsdAttribute CreateForceAttr() const

See GetForceAttr(), 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 GetTorqueAttr() const

Spatial torque in the local frame of the sensor computed by the simulation. Units: torque.

Declaration

vector3f physxArticulationForceSensor:torque = (0, 0, 0)

C++ Type

GfVec3f

Usd Type

SdfValueTypeNames->Vector3f

inline UsdAttribute CreateTorqueAttr() const

See GetTorqueAttr(), 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 GetSensorEnabledAttr() const

Boolean defining whether sensor is enabled.

Declaration

bool physxArticulationForceSensor:sensorEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateSensorEnabledAttr() const

See GetSensorEnabledAttr(), 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 GetWorldFrameEnabledAttr() const

Boolean defining whether reported force is in world frame.

Declaration

bool physxArticulationForceSensor:worldFrameEnabled = 0

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateWorldFrameEnabledAttr() const

See GetWorldFrameEnabledAttr(), 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 GetForwardDynamicsForcesEnabledAttr() const

Boolean defining whether to receive forces from forward dynamics.

Declaration

bool physxArticulationForceSensor:forwardDynamicsForcesEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateForwardDynamicsForcesEnabledAttr() const

See GetForwardDynamicsForcesEnabledAttr(), 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 GetConstraintSolverForcesEnabledAttr() const

Boolean defining whether to receive forces from constraint solver.

Declaration

bool physxArticulationForceSensor:constraintSolverForcesEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateConstraintSolverForcesEnabledAttr() const

See GetConstraintSolverForcesEnabledAttr(), 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 PhysxSchemaPhysxArticulationForceSensorAPI Apply(const UsdPrim &prim)

Applies this single-apply API schema to the given prim. This information is stored by adding “PhysxArticulationForceSensorAPI” 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 PhysxSchemaPhysxArticulationForceSensorAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxArticulationForceSensorAPI 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.