usdrt::PhysxSchemaPhysxVehicleAckermannSteeringAPI

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

Functions

Variables

class PhysxSchemaPhysxVehicleAckermannSteeringAPI : public usdrt::UsdAPISchemaBase

Describes a steering system with Ackermann correction for two wheels. This system will result in asymmetric steer angles such that the line defined by the non-steered wheel axle and the lateral lines of the steered wheels meet at the same point. As a consequence, when following the path around a curve, the inner wheel will turn more than the outer one. This avoids that some wheels need to slip sideways to stay on the path. The specified wheels will be connected to the steer control (see PhysxVehicleControllerAPI). This API schema has to be applied to a prim with PhysxVehicleAPI applied. Can only be used for vehicles that have a drive (see PhysxVehicleDriveBasicAPI or PhysxVehicleDriveStandardAPI). This API schema can not be combined with PhysxVehicleSteeringAPI, only one or the other is allowed.

Public Functions

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

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

inline explicit PhysxSchemaPhysxVehicleAckermannSteeringAPI(const UsdSchemaBase &schemaObj)

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

inline virtual ~PhysxSchemaPhysxVehicleAckermannSteeringAPI()

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 GetWheel0Attr() const

The index of the wheel that is negative along the lateral axis and should get connected to the steering system. The index refers to the attribute “index” of PhysxVehicleWheelAttachmentAPI.

Note: this attribute has to be specified (there is no default).

Declaration

int physxVehicleAckermannSteering:wheel0

C++ Type

int

Usd Type

SdfValueTypeNames->Int

inline UsdAttribute CreateWheel0Attr() const

See GetWheel0Attr(), 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 GetWheel1Attr() const

The index of the wheel that is positive along the lateral axis and should get connected to the steering system. The index refers to the attribute “index” of PhysxVehicleWheelAttachmentAPI.

Note: this attribute has to be specified (there is no default).

Declaration

int physxVehicleAckermannSteering:wheel1

C++ Type

int

Usd Type

SdfValueTypeNames->Int

inline UsdAttribute CreateWheel1Attr() const

See GetWheel1Attr(), 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 GetMaxSteerAngleAttr() const

The maximum steer angle (in radians) that can be achieved by the wheels. Has to be in range [-pi, pi]. The steer angle of wheel0 will be defined by maxSteerAngle * ackermann_correction(0) * physxVehicleController:steer (see PhysxVehicleControllerAPI).

Declaration

float physxVehicleAckermannSteering:maxSteerAngle = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateMaxSteerAngleAttr() const

See GetMaxSteerAngleAttr(), 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 GetWheelBaseAttr() const

The longitudinal distance between the axle that is affected by Ackermann correction and a reference axle (units: distance). The value has to be greater than zero.

Note: this attribute has to be specified (there is no default).

Declaration

float physxVehicleAckermannSteering:wheelBase

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateWheelBaseAttr() const

See GetWheelBaseAttr(), 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 GetTrackWidthAttr() const

The width of the axle defined by wheel0 and wheel1 (units: distance). The value has to be greater than zero.

Note: this attribute has to be specified (there is no default).

Declaration

float physxVehicleAckermannSteering:trackWidth

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateTrackWidthAttr() const

See GetTrackWidthAttr(), 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 GetStrengthAttr() const

The strength of the Ackermann correction with 0 denoting no correction and 1 denoting perfect correction. The value has to be in range [0, 1].

Declaration

float physxVehicleAckermannSteering:strength = 1

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateStrengthAttr() const

See GetStrengthAttr(), 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 PhysxSchemaPhysxVehicleAckermannSteeringAPI Apply(const UsdPrim &prim)

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