usdrt::PhysxSchemaPhysxRigidBodyAPI

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

Functions

usdrt::PhysxSchemaPhysxRigidBodyAPI::Apply: Applies this single-apply API schema to the given prim . This information is stored by adding "PhysxRigidBodyAPI" to the token-valued, listOp metadata apiSchemas on the prim.
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateAngularDampingAttr: See GetAngularDampingAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateCfmScaleAttr: See GetCfmScaleAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateContactSlopCoefficientAttr: See GetContactSlopCoefficientAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateDisableGravityAttr: See GetDisableGravityAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateEnableCCDAttr: See GetEnableCCDAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateEnableGyroscopicForcesAttr: See GetEnableGyroscopicForcesAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateEnableSpeculativeCCDAttr: See GetEnableSpeculativeCCDAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateLinearDampingAttr: See GetLinearDampingAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateLockedPosAxisAttr: See GetLockedPosAxisAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateLockedRotAxisAttr: See GetLockedRotAxisAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateMaxAngularVelocityAttr: See GetMaxAngularVelocityAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateMaxContactImpulseAttr: See GetMaxContactImpulseAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateMaxDepenetrationVelocityAttr: See GetMaxDepenetrationVelocityAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateMaxLinearVelocityAttr: See GetMaxLinearVelocityAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateRetainAccelerationsAttr: See GetRetainAccelerationsAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateSleepThresholdAttr: 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateSolveContactAttr: See GetSolveContactAttr() , 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateSolverPositionIterationCountAttr: 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateSolverVelocityIterationCountAttr: 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::CreateStabilizationThresholdAttr: 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 .
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetAngularDampingAttr: Angular damping coefficient. Range: [0, inf) Units: dimensionless.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetCfmScaleAttr: The cfm scale term can help stabilize an articulation by weakening the constraint's response. Use small values close to the default and typically in the range [0, 0.1] for best results. Note that this parameter is currently used only if rigid body is part of an articulation. Range: [0, 1] Units: unitless.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetContactSlopCoefficientAttr: Tolerance on the angular influence of a contact that can help improve the behavior of rolling approximate collision shapes. Specifically, the angular component of a normal constraint in a contact is zeroed if normal.cross(offset) falls below this tolerance. The tolerance is scaled such that the behavior improvement persists through a range of angular velocities of a rolling shape. Range: [0, inf) Units: distance.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetDisableGravityAttr: Disable gravity for the actor.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetEnableCCDAttr: Enables swept integration for the actor.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetEnableGyroscopicForcesAttr: Enables computation of gyroscopic forces on the rigid body.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetEnableSpeculativeCCDAttr: Register a rigid body to dynamically adjust contact offset based on velocity. This can be used to achieve a CCD effect.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetLinearDampingAttr: Linear damping coefficient. Range: [0, inf) Units: dimensionless.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetLockedPosAxisAttr: Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2).
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetLockedRotAxisAttr: Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2).
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetMaxAngularVelocityAttr: Maximum allowable angular velocity for rigid body. Range: [0, inf) Units: degrees / seconds.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetMaxContactImpulseAttr: Sets a limit on the impulse that may be applied at a contact. The maximum impulse at a contact between two dynamic or kinematic bodies will be the minimum of the two limit values. For a collision between a static and a dynamic body, the impulse is limited by the value for the dynamic body. Range: [0, inf) Units: force * seconds = mass * distance / seconds.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetMaxDepenetrationVelocityAttr: The maximum depenetration velocity permitted to be introduced by the solver. Range: [0, inf) Default: 5.0 * tolerancesLength Units: distance / seconds.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetMaxLinearVelocityAttr: Maximum allowable linear velocity for the rigid body. Range: [0, inf) Units: distance / seconds.
usdrt::DestructionSchemaDestructibleBaseAPI::GetPath: Return the SdfPath to this schema object's held prim.
usdrt::DestructionSchemaDestructibleBaseAPI::GetPrim: Return this schema object's held prim.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetRetainAccelerationsAttr: Carries over forces/accelerations between frames, rather than clearing them.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetSleepThresholdAttr: Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf) Default: 0.00005 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetSolveContactAttr: Process the contacts of this rigid body in the dynamics solver.
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetSolverPositionIterationCountAttr: Solver position iteration counts for the body. Allowed range [1, 255].
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetSolverVelocityIterationCountAttr: Solver velocity iteration counts for the body. Allowed range [1, 255].
usdrt::PhysxSchemaPhysxRigidBodyAPI::GetStabilizationThresholdAttr: Mass-normalized kinetic energy threshold below which an actor may participate in stabilization. Range: [0, inf) Default: 0.00001 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds.
usdrt::PhysxSchemaPhysxRigidBodyAPI::PhysxSchemaPhysxRigidBodyAPI: Construct a PhysxSchemaPhysxRigidBodyAPI on UsdPrim prim . Equivalent to PhysxSchemaPhysxRigidBodyAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim , but will not immediately throw an error for an invalid prim .
usdrt::PhysxSchemaPhysxRigidBodyAPI::PhysxSchemaPhysxRigidBodyAPI: Construct a PhysxSchemaPhysxRigidBodyAPI on the prim held by schemaObj . Should be preferred over PhysxSchemaPhysxRigidBodyAPI (schemaObj.GetPrim()), as it preserves SchemaBase state.
usdrt::DestructionSchemaDestructibleBaseAPI::_GetInstanceName: Returns the instance name of the API schema object belonging to a multiple-apply API schema.
usdrt::PhysxSchemaPhysxRigidBodyAPI::operator bool: Boolean operator.
usdrt::PhysxSchemaPhysxRigidBodyAPI::~PhysxSchemaPhysxRigidBodyAPI: Destructor.

Variables

usdrt::PhysxSchemaPhysxRigidBodyAPI::schemaType: Compile time constant representing what kind of schema this class is.

class PhysxSchemaPhysxRigidBodyAPI : public usdrt::UsdAPISchemaBase 

PhysX rigid body extended parameters.

Public Functions

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

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

inline virtual ~PhysxSchemaPhysxRigidBodyAPI(): 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 GetLinearDampingAttr() const

Linear damping coefficient. Range: [0, inf) Units: dimensionless.


Declaration	`float physxRigidBody:linearDamping = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateLinearDampingAttr() const: See GetLinearDampingAttr(), 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 GetAngularDampingAttr() const

Angular damping coefficient. Range: [0, inf) Units: dimensionless.


Declaration	`float physxRigidBody:angularDamping = 0.05`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateAngularDampingAttr() const: See GetAngularDampingAttr(), 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 GetMaxLinearVelocityAttr() const

Maximum allowable linear velocity for the rigid body. Range: [0, inf) Units: distance / seconds.


Declaration	`float physxRigidBody:maxLinearVelocity = inf`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateMaxLinearVelocityAttr() const: See GetMaxLinearVelocityAttr(), 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 GetMaxAngularVelocityAttr() const

Maximum allowable angular velocity for rigid body. Range: [0, inf) Units: degrees / seconds.


Declaration	`float physxRigidBody:maxAngularVelocity = 5729.58`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateMaxAngularVelocityAttr() const: See GetMaxAngularVelocityAttr(), 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 an actor may go to sleep. Range: [0, inf) Default: 0.00005 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds.


Declaration	`float physxRigidBody: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

Mass-normalized kinetic energy threshold below which an actor may participate in stabilization. Range: [0, inf) Default: 0.00001 * tolerancesSpeed * tolerancesSpeed Units: distance * distance / seconds / seconds.


Declaration	`float physxRigidBody: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 GetMaxDepenetrationVelocityAttr() const

The maximum depenetration velocity permitted to be introduced by the solver. Range: [0, inf) Default: 5.0 * tolerancesLength Units: distance / seconds.


Declaration	`float physxRigidBody:maxDepenetrationVelocity = 3`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateMaxDepenetrationVelocityAttr() const: See GetMaxDepenetrationVelocityAttr(), 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 GetMaxContactImpulseAttr() const

Sets a limit on the impulse that may be applied at a contact. The maximum impulse at a contact between two dynamic or kinematic bodies will be the minimum of the two limit values. For a collision between a static and a dynamic body, the impulse is limited by the value for the dynamic body. Range: [0, inf) Units: force * seconds = mass * distance / seconds.


Declaration	`float physxRigidBody:maxContactImpulse = inf`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateMaxContactImpulseAttr() const: See GetMaxContactImpulseAttr(), 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 physxRigidBody:solverPositionIterationCount = 16`
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 physxRigidBody: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 GetEnableCCDAttr() const

Enables swept integration for the actor.


Declaration	`bool physxRigidBody:enableCCD = 0`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateEnableCCDAttr() const: See GetEnableCCDAttr(), 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 GetEnableSpeculativeCCDAttr() const

Register a rigid body to dynamically adjust contact offset based on velocity. This can be used to achieve a CCD effect.


Declaration	`bool physxRigidBody:enableSpeculativeCCD = 0`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateEnableSpeculativeCCDAttr() const: See GetEnableSpeculativeCCDAttr(), 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 GetRetainAccelerationsAttr() const

Carries over forces/accelerations between frames, rather than clearing them.


Declaration	`bool physxRigidBody:retainAccelerations = 0`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateRetainAccelerationsAttr() const: See GetRetainAccelerationsAttr(), 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 GetEnableGyroscopicForcesAttr() const

Enables computation of gyroscopic forces on the rigid body.


Declaration	`bool physxRigidBody:enableGyroscopicForces = 1`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateEnableGyroscopicForcesAttr() const: See GetEnableGyroscopicForcesAttr(), 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 GetDisableGravityAttr() const

Disable gravity for the actor.


Declaration	`bool physxRigidBody:disableGravity = 0`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateDisableGravityAttr() const: See GetDisableGravityAttr(), 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 GetSolveContactAttr() const

Process the contacts of this rigid body in the dynamics solver.


Declaration	`bool physxRigidBody:solveContact = 1`
C++ Type	bool
Usd Type	SdfValueTypeNames->Bool

inline UsdAttribute CreateSolveContactAttr() const: See GetSolveContactAttr(), 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 GetLockedPosAxisAttr() const

Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2).


Declaration	`int physxRigidBody:lockedPosAxis = 0`
C++ Type	int
Usd Type	SdfValueTypeNames->Int

inline UsdAttribute CreateLockedPosAxisAttr() const: See GetLockedPosAxisAttr(), 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 GetLockedRotAxisAttr() const

Collection of flags providing a mechanism to lock motion along/around a specific axis (1 << 0, 1 << 1, 1 << 2).


Declaration	`int physxRigidBody:lockedRotAxis = 0`
C++ Type	int
Usd Type	SdfValueTypeNames->Int

inline UsdAttribute CreateLockedRotAxisAttr() const: See GetLockedRotAxisAttr(), 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 GetContactSlopCoefficientAttr() const

Tolerance on the angular influence of a contact that can help improve the behavior of rolling approximate collision shapes. Specifically, the angular component of a normal constraint in a contact is zeroed if normal.cross(offset) falls below this tolerance. The tolerance is scaled such that the behavior improvement persists through a range of angular velocities of a rolling shape. Range: [0, inf) Units: distance.


Declaration	`float physxRigidBody:contactSlopCoefficient = 0`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateContactSlopCoefficientAttr() const: See GetContactSlopCoefficientAttr(), 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 GetCfmScaleAttr() const

The cfm scale term can help stabilize an articulation by weakening the constraint’s response. Use small values close to the default and typically in the range [0, 0.1] for best results. Note that this parameter is currently used only if rigid body is part of an articulation. Range: [0, 1] Units: unitless.


Declaration	`float physxRigidBody:cfmScale = 0.025`
C++ Type	float
Usd Type	SdfValueTypeNames->Float

inline UsdAttribute CreateCfmScaleAttr() const: See GetCfmScaleAttr(), 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 PhysxSchemaPhysxRigidBodyAPI Apply(const UsdPrim &prim)

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