usdrt::PhysxSchemaPhysxVehicleTireAPI

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

Functions

Variables

class PhysxSchemaPhysxVehicleTireAPI : public usdrt::UsdAPISchemaBase

Properties of a PhysX vehicle tire. If the tire setup does not need to be shared among vehicle instances, it can be applied to the prim which has PhysxVehicleWheelAttachmentAPI applied. If the intent is to share the tire setup, PhysxVehicleTireAPI can be applied to a separate prim which can be linked to (see PhysxVehicleWheelAttachmentAPI).

Public Functions

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

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

inline explicit PhysxSchemaPhysxVehicleTireAPI(const UsdSchemaBase &schemaObj)

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

inline virtual ~PhysxSchemaPhysxVehicleTireAPI()

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 GetLatStiffXAttr() const

Deprecated. Please use lateralStiffnessGraph instead.

Tire lateral stiffness is a graph of tire load that has linear behavior near zero load and flattens at large loads. The parameter describes the minimum normalized load (load/restLoad) that gives a flat lateral stiffness response to load.

Note: will be ignored if lateralStiffnessGraph is used.

Declaration

float physxVehicleTire:latStiffX = 2

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateLatStiffXAttr() const

See GetLatStiffXAttr(), 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 GetLatStiffYAttr() const

Deprecated. Please use lateralStiffnessGraph instead.

Tire lateral stiffness is a graph of tire load that has linear behavior near zero load and flattens at large loads. The parameter describes the maximum possible value of lateralStiffness/restLoad that occurs when (load/restLoad) >= latStiffX. If load/restLoad is greater than latStiffX then the lateral stiffness is latStiffY*restLoad, else the lateral stiffness is latStiffY*(load/latStiffX).

Note: will be ignored if lateralStiffnessGraph is used.

Note: if not defined, the value 17.095 will be used.

Declaration

float physxVehicleTire:latStiffY

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateLatStiffYAttr() const

See GetLatStiffYAttr(), 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 GetLateralStiffnessGraphAttr() const

Tire lateral stiffness is represented as a graph of tire load that has linear behavior near zero load and flattens at large loads. The first value of the parameter describes the minimum normalized load (load/restLoad) that gives a flat lateral stiffness response to load. This value has to be greater or equal 0. The second value of the parameter defines the lateral stiffness when the response is flat (the max lateral stiffness, units: mass * distance / seconds / seconds). This value has to be positive.

Note: the default value (0, 0) is not a valid value as such but indicates that the deprecated attributes latStiffX and latStiffY should be used instead.

Declaration

float2 physxVehicleTire:lateralStiffnessGraph = (0, 0)

C++ Type

GfVec2f

Usd Type

SdfValueTypeNames->Float2

inline UsdAttribute CreateLateralStiffnessGraphAttr() const

See GetLateralStiffnessGraphAttr(), 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 GetLongitudinalStiffnessPerUnitGravityAttr() const

Deprecated. Please use longitudinalStiffness instead.

Tire longitudinal stiffness per unit gravitational acceleration. Longitudinal stiffness of the tire is calculated as gravitationalAcceleration*longitudinalStiffnessPerUnitGravity.

Note: will be ignored if longitudinalStiffness is used.

Note: if not defined, the value 500 will be used.

Declaration

float physxVehicleTire:longitudinalStiffnessPerUnitGravity

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateLongitudinalStiffnessPerUnitGravityAttr() const

See GetLongitudinalStiffnessPerUnitGravityAttr(), 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 GetLongitudinalStiffnessAttr() const

Tire longitudinal stiffness (units: mass * distance / seconds / seconds). The value has to be positive. The resulting longitudinal force can be approximated as: longitudinalStiffness*longitudinalSlip.

Note: the default value 0 is not a valid value as such but indicates that the deprecated attribute longitudinalStiffnessPerUnitGravity should be used instead.

Declaration

float physxVehicleTire:longitudinalStiffness = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateLongitudinalStiffnessAttr() const

See GetLongitudinalStiffnessAttr(), 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 GetCamberStiffnessPerUnitGravityAttr() const

Deprecated. Please use camberStiffness instead.

Tire camber stiffness per unit gravitational acceleration. Camber stiffness of the tire is calculated as gravitationalAcceleration*camberStiffnessPerUnitGravity.

Note: will be ignored if camberStiffness is used.

Declaration

float physxVehicleTire:camberStiffnessPerUnitGravity = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateCamberStiffnessPerUnitGravityAttr() const

See GetCamberStiffnessPerUnitGravityAttr(), 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 GetCamberStiffnessAttr() const

Tire camber stiffness (units: mass * distance / seconds / seconds / radians). The value has to be greater or equal 0. Camber force can be approximated as: camberStiffness*camberAngle.

Note: the default value -1 is not a valid value as such but indicates that the deprecated attribute camberStiffnessPerUnitGravity should be used instead.

Declaration

float physxVehicleTire:camberStiffness = -1

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateCamberStiffnessAttr() const

See GetCamberStiffnessAttr(), 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 GetFrictionVsSlipGraphAttr() const

Graph of friction vs longitudinal slip with 3 points. The friction value extracted from this graph will be multiplied with the friction value of the combination of ground material and tire type. The array is expected to have 3 entries/points. For the first point, the first value is always zero and the second value is the friction available at zero longitudinal slip. For the second point, the first value is the longitudinal slip with maximum friction and the second value is the maximum friction. For the third point, the first value is the end point of the graph and the second value is the friction for slips greater than the end point of the graph. Note that the friction value of the first point is typically smaller than the friction value of the second point and the friction value of the second point is typically larger than the friction value of the third point.

Note: if not defined, the following values will be used: [(0.0, 1.0), (0.1, 1.0), (1.0, 1.0)].

Declaration

float2[] physxVehicleTire:frictionVsSlipGraph

C++ Type

VtArray<GfVec2f>

Usd Type

SdfValueTypeNames->Float2Array

inline UsdAttribute CreateFrictionVsSlipGraphAttr() const

See GetFrictionVsSlipGraphAttr(), 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 GetRestLoadAttr() const

The load that develops on the tire when the vehicle is at rest on a flat plane (units: force = mass * distance / seconds / seconds). The value has to be greater or equal 0. If set to 0, the rest load will get computed automatically using the approximation of: gravitational acceleration * sprungMass.

Note: it is not possible for a vehicle to have some rest load values being user-defined and some being computed automatically. Either all values have to be user-defined or all have to be set to 0 for auto-computation.

Declaration

float physxVehicleTire:restLoad = 0

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateRestLoadAttr() const

See GetRestLoadAttr(), 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 UsdRelationship GetFrictionTableRel() const

A relationship to a PhysxVehicleTireFrictionTable instance.

Note: if not defined, a default friction table will be used.

inline UsdRelationship CreateFrictionTableRel() const

See GetFrictionTableRel(), and also Create vs Get Property Methods for when to use Get vs Create.

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 PhysxSchemaPhysxVehicleTireAPI Apply(const UsdPrim &prim)

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