usdrt::PhysxSchemaPhysxTendonAttachmentAPI
Defined in usdrt/scenegraph/usd/physxSchema/physxTendonAttachmentAPI.h
Functions
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::Apply: Applies this multiple-apply API schema to the given
prim
along with the given instance name,name
.usdrt::PhysxSchemaPhysxTendonAttachmentAPI::CreateGearingAttr: See GetGearingAttr() , 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) ifwriteSparsely
istrue
- the default forwriteSparsely
isfalse
.usdrt::PhysxSchemaPhysxTendonAttachmentAPI::CreateLocalPosAttr: See GetLocalPosAttr() , 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) ifwriteSparsely
istrue
- the default forwriteSparsely
isfalse
.usdrt::PhysxSchemaPhysxTendonAttachmentAPI::CreateParentAttachmentAttr: See GetParentAttachmentAttr() , 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) ifwriteSparsely
istrue
- the default forwriteSparsely
isfalse
.usdrt::PhysxSchemaPhysxTendonAttachmentAPI::CreateParentLinkRel: See GetParentLinkRel() , and also Create vs Get Property Methods for when to use Get vs Create.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::GetGearingAttr: Attachment distance scaling factor. Range: (-inf, inf) Units: unitless.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::GetLocalPosAttr: Location of the attachment. Only considered if API is applied to an articulation link (i.e. with a PhysicsRigidBodyAPI). Units: (local-frame) distance.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::GetName: Returns the name of this multiple-apply schema instance.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::GetParentAttachmentAttr: API instance name of parent attachment at parentLink.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::GetParentLinkRel: Relationship to parent link that has a PhysxTendonAttachmentAPI or PhysxTendonAttachmentRootAPI with instance name parentAttachment applied.
usdrt::DestructionSchemaDestructibleBaseAPI::GetPath: Return the SdfPath to this schema object's held prim.
usdrt::DestructionSchemaDestructibleBaseAPI::GetPrim: Return this schema object's held prim.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::PhysxSchemaPhysxTendonAttachmentAPI: Construct a PhysxSchemaPhysxTendonAttachmentAPI on the prim held by
schemaObj
with namename
. Should be preferred over PhysxSchemaPhysxTendonAttachmentAPI (schemaObj.GetPrim(), name), as it preserves SchemaBase state.usdrt::PhysxSchemaPhysxTendonAttachmentAPI::PhysxSchemaPhysxTendonAttachmentAPI: Construct a PhysxSchemaPhysxTendonAttachmentAPI on UsdPrim
prim
with namename
. Equivalent to PhysxSchemaPhysxTendonAttachmentAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "physxTendon:name"));.usdrt::DestructionSchemaDestructibleBaseAPI::_GetInstanceName: Returns the instance name of the API schema object belonging to a multiple-apply API schema.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::operator bool: Boolean operator.
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::~PhysxSchemaPhysxTendonAttachmentAPI: Destructor.
Variables
usdrt::PhysxSchemaPhysxTendonAttachmentAPI::schemaType: Compile time constant representing what kind of schema this class is.
-
class PhysxSchemaPhysxTendonAttachmentAPI : public usdrt::UsdAPISchemaBase
WARNING: Draft API, this design is not fixed and may change in the future.
Applied to an articulation-link rigid-body Xformable.
A tendon attachment is part of a spatial tendon and is attached to an articulation link. The distance between the attachment and its parent attachment contributes to the length of the tendon, after scaling by the gearing attribute.
The localPos attribute defines the translational offset of the attachment in the link’s local frame; in particular, this means that the offset is scaled together with any scaling applied to the link.
An articulation link may have multiple distinct attachments that belong to the same or distinct spatial tendons; therefore, the spatial tendon APIs are multi-apply and each attachment must have a unique instance name that is used in parent-child relationships of the attachments. 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 PhysxSchemaPhysxTendonAttachmentAPI(const UsdPrim &prim = UsdPrim(), const TfToken &name = TfToken())
Construct a PhysxSchemaPhysxTendonAttachmentAPI on UsdPrim
prim
with namename
. Equivalent to PhysxSchemaPhysxTendonAttachmentAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( “physxTendon:name”));.for a valid
prim
, but will not immediately throw an error for an invalidprim
-
inline explicit PhysxSchemaPhysxTendonAttachmentAPI(const UsdSchemaBase &schemaObj, const TfToken &name)
Construct a PhysxSchemaPhysxTendonAttachmentAPI on the prim held by
schemaObj
with namename
. Should be preferred over PhysxSchemaPhysxTendonAttachmentAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.
-
inline virtual ~PhysxSchemaPhysxTendonAttachmentAPI()
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 GetGearingAttr() const
Attachment distance scaling factor. Range: (-inf, inf) Units: unitless.
Declaration
float gearing = 1
C++ Type
float
Usd Type
SdfValueTypeNames->Float
-
inline UsdAttribute CreateGearingAttr() const
See GetGearingAttr(), 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) ifwriteSparsely
istrue
- the default forwriteSparsely
isfalse
.
-
inline UsdAttribute GetLocalPosAttr() const
Location of the attachment. Only considered if API is applied to an articulation link (i.e. with a PhysicsRigidBodyAPI). Units: (local-frame) distance.
Declaration
point3f localPos = (0, 0, 0)
C++ Type
GfVec3f
Usd Type
SdfValueTypeNames->Point3f
-
inline UsdAttribute CreateLocalPosAttr() const
See GetLocalPosAttr(), 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) ifwriteSparsely
istrue
- the default forwriteSparsely
isfalse
.
-
inline UsdAttribute GetParentAttachmentAttr() const
API instance name of parent attachment at parentLink.
Declaration
uniform token parentAttachment
C++ Type
TfToken
Usd Type
SdfValueTypeNames->Token
Variability
SdfVariabilityUniform
-
inline UsdAttribute CreateParentAttachmentAttr() const
See GetParentAttachmentAttr(), 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) ifwriteSparsely
istrue
- the default forwriteSparsely
isfalse
.
-
inline UsdRelationship GetParentLinkRel() const
Relationship to parent link that has a PhysxTendonAttachmentAPI or PhysxTendonAttachmentRootAPI with instance name parentAttachment applied.
-
inline UsdRelationship CreateParentLinkRel() const
See GetParentLinkRel(), and also Create vs Get Property Methods for when to use Get vs Create.
Public Static Functions
-
static inline PhysxSchemaPhysxTendonAttachmentAPI 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 “PhysxTendonAttachmentAPI:<i>name</i>” to the token-valued, listOp metadata apiSchemas on the prim. For example, if
name
is ‘instance1’, the token ‘PhysxTendonAttachmentAPI:instance1’ is added to ‘apiSchemas’.See also
UsdPrim::GetAppliedSchemas()
See also
UsdPrim::HasAPI()
See also
UsdPrim::ApplyAPI()
See also
UsdPrim::RemoveAPI()
- Returns
A valid PhysxSchemaPhysxTendonAttachmentAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxTendonAttachmentAPI 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
-
inline explicit PhysxSchemaPhysxTendonAttachmentAPI(const UsdPrim &prim = UsdPrim(), const TfToken &name = TfToken())