usdrt::PhysxSchemaPhysxForceAPI

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

Functions

Variables

class PhysxSchemaPhysxForceAPI : public usdrt::UsdAPISchemaBase

PhysX schema API that applies a force and torque to a rigid body (UsdGeom.Xformable with UsdPhysicsRigidBodyAPI). The API can be applied to either:

  • The rigid-body Xformable, in which case the force is applied at the body’s center of mass.

  • To an UsdGeom.Xformable that is a child of the rigid-body Xformable, in which case the force is applied at the location defined by the Xformable.

The worldFrameEnabled flag defines what coordinate frame the force and torque are expressed in. Note that any scale transform operations will only affect the force and torque values if on “acceleration” mode. For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in PhysxSchemaTokens. So to set an attribute to the value “rightHanded”, use PhysxSchemaTokens->rightHanded as the value.

Public Functions

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

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

inline explicit PhysxSchemaPhysxForceAPI(const UsdSchemaBase &schemaObj)

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

inline virtual ~PhysxSchemaPhysxForceAPI()

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 GetForceEnabledAttr() const

Boolean defining whether the force and torque are enabled or disabled.

Declaration

bool physxForce:forceEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateForceEnabledAttr() const

See GetForceEnabledAttr(), 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 the force and torque are in world frame or in local frame.

Declaration

bool physxForce: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 GetModeAttr() const

Force mode, can be either a force or an acceleration. force - units: (linear) mass * distance / seconds^2, i.e. a force (angular) mass * distance * distance / time^2, i.e. a torque acceleration - units: (linear) distance / seconds^2, i.e. a linear acceleration. (angular) degrees / seconds^2, i.e. an angular acceleration.

Declaration

uniform token physxForce:mode = "acceleration"

C++ Type

TfToken

Usd Type

SdfValueTypeNames->Token

Variability

SdfVariabilityUniform

Allowed Values

force, acceleration

inline UsdAttribute CreateModeAttr() const

See GetModeAttr(), 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 GetForceAttr() const

Force to apply defined in global or local frame depending on worldFrameEnabled. The force is applied at the position defined by the relative transform to the parent rigid-body Xformable, or at the body’s center of mass if the API is applied directly to a rigid-body Xformable. For units see mode attribute. Range: (-inf, inf)

Declaration

vector3f physxForce: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

Torque to apply defined in the global or local frame depending on worldFrameEnabled. For units see mode attribute. Range: (-inf, inf)

Declaration

vector3f physxForce: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.

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 PhysxSchemaPhysxForceAPI Apply(const UsdPrim &prim)

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