definePhysicsFixedJoint

Fully qualified name: usdex::core::definePhysicsFixedJoint

pxr::UsdPhysicsFixedJoint usdex::core::definePhysicsFixedJoint(

pxr::UsdStagePtr stage,

const pxr::SdfPath &path,

const pxr::UsdPrim &body0,

const pxr::UsdPrim &body1,

const JointFrame &frame,

)

Creates a fixed joint connecting two rigid bodies.

A fixed joint connects two prims making them effectively welded together. For maximal coordinate (free-body) solvers it is important to fully constrain the two bodies. For reduced coordinate solvers this is may seem redundant, but it is important for consistency & cross-solver portability.

Using the coordinate system specified by the jointFrame, the local position and rotation corresponding to body0 and body1 of the joint are automatically calculated.

Parameters:

• stage – The stage on which to define the joint

• path – The absolute prim path at which to define the joint

• body0 – The first body of the joint

• body1 – The second body of the joint

• frame – The position and rotation of the joint in the specified coordinate system.

Returns:

UsdPhysicsFixedJoint schema wrapping the defined UsdPrim