definePhysicsSphericalJoint

Fully qualified name: usdex::core::definePhysicsSphericalJoint

pxr::UsdPhysicsSphericalJoint usdex::core::definePhysicsSphericalJoint(

pxr::UsdPrim parent,

const std::string &name,

const pxr::UsdPrim &body0,

const pxr::UsdPrim &body1,

const JointFrame &frame,

const pxr::GfVec3f &axis = pxr::GfVec3f(1.0f, 0.0f, 0.0f),

std::optional<float> coneAngle0Limit = std::nullopt,

std::optional<float> coneAngle1Limit = std::nullopt,

)

Creates a spherical joint, which acts as a ball and socket joint, connecting two rigid bodies.

This is an overloaded member function, provided for convenience. It differs from the above function only in what arguments it accepts.

Parameters:

• parent – Prim below which to define the physics joint

• name – Name of the physics 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.

• axis – The axis of the joint.

• coneAngle0Limit – The lower limit of the cone angle (degrees).

• coneAngle1Limit – The upper limit of the cone angle (degrees).

Returns:

UsdPhysicsSphericalJoint schema wrapping the defined UsdPrim