usdrt::UsdPhysicsFixedJoint

Defined in usdrt/scenegraph/usd/usdPhysics/fixedJoint.h

Functions

Variables

class UsdPhysicsFixedJoint : public usdrt::UsdPhysicsJoint

Predefined fixed joint type (All degrees of freedom are removed.)

Public Functions

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

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

inline explicit UsdPhysicsFixedJoint(const UsdSchemaBase &schemaObj)

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

inline virtual ~UsdPhysicsFixedJoint()

Destructor.

inline operator bool() const

Boolean operator.

Returns

Return true if the contained prim is an instance of this schema using IsA, and false otherwise.

inline UsdAttribute GetLocalPos0Attr() const

Relative position of the joint frame to body0’s frame.

Declaration

point3f physics:localPos0 = (0, 0, 0)

C++ Type

GfVec3f

Usd Type

SdfValueTypeNames->Point3f

inline UsdAttribute CreateLocalPos0Attr() const

See GetLocalPos0Attr(), 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 GetLocalRot0Attr() const

Relative orientation of the joint frame to body0’s frame.

Declaration

quatf physics:localRot0 = (1, 0, 0, 0)

C++ Type

GfQuatf

Usd Type

SdfValueTypeNames->Quatf

inline UsdAttribute CreateLocalRot0Attr() const

See GetLocalRot0Attr(), 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 GetLocalPos1Attr() const

Relative position of the joint frame to body1’s frame.

Declaration

point3f physics:localPos1 = (0, 0, 0)

C++ Type

GfVec3f

Usd Type

SdfValueTypeNames->Point3f

inline UsdAttribute CreateLocalPos1Attr() const

See GetLocalPos1Attr(), 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 GetLocalRot1Attr() const

Relative orientation of the joint frame to body1’s frame.

Declaration

quatf physics:localRot1 = (1, 0, 0, 0)

C++ Type

GfQuatf

Usd Type

SdfValueTypeNames->Quatf

inline UsdAttribute CreateLocalRot1Attr() const

See GetLocalRot1Attr(), 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 GetJointEnabledAttr() const

Determines if the joint is enabled.

Declaration

bool physics:jointEnabled = 1

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateJointEnabledAttr() const

See GetJointEnabledAttr(), 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 GetCollisionEnabledAttr() const

Determines if the jointed subtrees should collide or not.

Declaration

bool physics:collisionEnabled = 0

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

inline UsdAttribute CreateCollisionEnabledAttr() const

See GetCollisionEnabledAttr(), 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 GetExcludeFromArticulationAttr() const

Determines if the joint can be included in an Articulation.

Declaration

uniform bool physics:excludeFromArticulation = 0

C++ Type

bool

Usd Type

SdfValueTypeNames->Bool

Variability

SdfVariabilityUniform

inline UsdAttribute CreateExcludeFromArticulationAttr() const

See GetExcludeFromArticulationAttr(), 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 GetBreakForceAttr() const

Joint break force. If set, joint is to break when this force limit is reached. (Used for linear DOFs.) Units: mass * distance / second / second.

Declaration

float physics:breakForce = inf

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateBreakForceAttr() const

See GetBreakForceAttr(), 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 GetBreakTorqueAttr() const

Joint break torque. If set, joint is to break when this torque limit is reached. (Used for angular DOFs.) Units: mass * distance * distance / second / second.

Declaration

float physics:breakTorque = inf

C++ Type

float

Usd Type

SdfValueTypeNames->Float

inline UsdAttribute CreateBreakTorqueAttr() const

See GetBreakTorqueAttr(), 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 GetBody0Rel() const

Relationship to any UsdGeomXformable.

inline UsdRelationship CreateBody0Rel() const

See GetBody0Rel(), and also Create vs Get Property Methods for when to use Get vs Create.

inline UsdRelationship GetBody1Rel() const

Relationship to any UsdGeomXformable.

inline UsdRelationship CreateBody1Rel() const

See GetBody1Rel(), and also Create vs Get Property Methods for when to use Get vs Create.

inline UsdAttribute GetVisibilityAttr() const

Visibility is meant to be the simplest form of “pruning” visibility that is supported by most DCC apps. Visibility is animatable, allowing a sub-tree of geometry to be present for some segment of a shot, and absent from others; unlike the action of deactivating geometry prims, invisible geometry is still available for inspection, for positioning, for defining volumes, etc.

Declaration

token visibility = "inherited"

C++ Type

TfToken

Usd Type

SdfValueTypeNames->Token

Allowed Values

inherited, invisible

inline UsdAttribute CreateVisibilityAttr() const

See GetVisibilityAttr(), 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 GetPurposeAttr() const

Purpose is a classification of geometry into categories that can each be independently included or excluded from traversals of prims on a stage, such as rendering or bounding-box computation traversals.

See UsdGeom_ImageablePurpose for more detail about how purpose is computed and used.

Declaration

uniform token purpose = "default"

C++ Type

TfToken

Usd Type

SdfValueTypeNames->Token

Variability

SdfVariabilityUniform

Allowed Values

default, render, proxy, guide

inline UsdAttribute CreatePurposeAttr() const

See GetPurposeAttr(), 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 GetProxyPrimRel() const

The proxyPrim relationship allows us to link a prim whose purpose is “render” to its (single target) purpose=”proxy” prim. This is entirely optional, but can be useful in several scenarios:

  • In a pipeline that does pruning (for complexity management) by deactivating prims composed from asset references, when we deactivate a purpose=”render” prim, we will be able to discover and additionally deactivate its associated purpose=”proxy” prim, so that preview renders reflect the pruning accurately.

  • DCC importers may be able to make more aggressive optimizations for interactive processing and display if they can discover the proxy for a given render prim.

  • With a little more work, a Hydra-based application will be able to map a picked proxy prim back to its render geometry for selection.

Note

It is only valid to author the proxyPrim relationship on prims whose purpose is “render”.

inline UsdRelationship CreateProxyPrimRel() const

See GetProxyPrimRel(), 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 UsdPhysicsFixedJoint Define(const UsdStageRefPtr &stage, const SdfPath &path)

Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.

Public Static Attributes

static const UsdSchemaType schemaType = UsdSchemaType::ConcreteTyped

Compile time constant representing what kind of schema this class is.

See also

UsdSchemaType