usdrt::PhysxSchemaPhysxTendonAxisRootAPI

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

Functions

Variables

class PhysxSchemaPhysxTendonAxisRootAPI : public usdrt::UsdAPISchemaBase

WARNING: Draft API, this design is not fixed and may change in the future. At this point, we don’t support multi-axis joints (e.g. spherical, D6) yet.

Applied to a Physics Joint that must be part of an articulation, e.g. PhysicsRevoluteJoint or PhysicsPrismaticJoint.

In addition to creating a regular axis of the fixed tendon, the root API provides attributes that apply to the entire tendon. The root API must be applied to the joint that is the common ancestor of all joint axes in the tendon.

For restrictions on tendon structure and grouping of axes into tendons, see PhysxTendonAxisAPI.

Public Functions

inline explicit PhysxSchemaPhysxTendonAxisRootAPI(const UsdPrim &prim = UsdPrim(), const TfToken &name = TfToken())

Construct a PhysxSchemaPhysxTendonAxisRootAPI on UsdPrim prim with name name . Equivalent to PhysxSchemaPhysxTendonAxisRootAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( “physxTendon:name”));.

for a valid prim , but will not immediately throw an error for an invalid prim

inline explicit PhysxSchemaPhysxTendonAxisRootAPI(const UsdSchemaBase &schemaObj, const TfToken &name)

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

inline virtual ~PhysxSchemaPhysxTendonAxisRootAPI()

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 TfToken GetName() const

Returns the name of this multiple-apply schema instance.

inline UsdAttribute GetStiffnessAttr() const

Tendon length spring stiffness. Range: [0, inf) Units: force / distance = mass / time / time.

Declaration

float stiffness = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateStiffnessAttr() const

See GetStiffnessAttr(), 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 GetDampingAttr() const

Tendon length damping. Range: [0, inf) Units: force / distance * time = mass / time.

Declaration

float damping = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateDampingAttr() const

See GetDampingAttr(), 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 GetLimitStiffnessAttr() const

Tendon length-limit spring stiffness. Range: [0, inf) Units: force / distance = mass / time / time.

Declaration

float limitStiffness = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateLimitStiffnessAttr() const

See GetLimitStiffnessAttr(), 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 GetOffsetAttr() const

Tendon length offset. Range: (-inf, inf) Units: distance.

Declaration

float offset = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateOffsetAttr() const

See GetOffsetAttr(), 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 GetRestLengthAttr() const

Tendon rest length. Range: (-inf, inf) Units: distance.

Declaration

float restLength = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateRestLengthAttr() const

See GetRestLengthAttr(), 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 GetLowerLimitAttr() const

Tendon length lower limit. Range: (-inf, upperLimit]. Units: distance.

Declaration

float lowerLimit = -inf

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateLowerLimitAttr() const

See GetLowerLimitAttr(), 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 GetUpperLimitAttr() const

Tendon length upper limit. Range: [lowerLimit, inf) Units: distance.

Declaration

float upperLimit = inf

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateUpperLimitAttr() const

See GetUpperLimitAttr(), 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 GetTendonEnabledAttr() const

Enables/disables the tendon from contributing to the articulation dynamics.

Declaration

bool tendonEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateTendonEnabledAttr() const

See GetTendonEnabledAttr(), 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 PhysxSchemaPhysxTendonAxisRootAPI 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 “PhysxTendonAxisRootAPI:<i>name</i>” to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is ‘instance1’, the token ‘PhysxTendonAxisRootAPI:instance1’ is added to ‘apiSchemas’.

See also

UsdPrim::GetAppliedSchemas()

See also

UsdPrim::HasAPI()

See also

UsdPrim::ApplyAPI()

See also

UsdPrim::RemoveAPI()

Returns

A valid PhysxSchemaPhysxTendonAxisRootAPI object is returned upon success. An invalid (or empty) PhysxSchemaPhysxTendonAxisRootAPI 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

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.