connectPhysicsJoint#

Fully qualified name: usdex::core::connectPhysicsJoint

void usdex::core::connectPhysicsJoint(
pxr::UsdPhysicsJoint joint,
const pxr::UsdPrim &body0,
const pxr::UsdPrim &body1,
const JointFrame &frame,
const pxr::GfVec3f &axis = pxr::GfVec3f(1.0f, 0.0f, 0.0f),
)#

Connects an existing joint to the specified body prims and realigns the joint frame accordingly.

If the joint was previously targetting different bodies, they will be replaced with relationships to the new bodies.

If either body0 or body1 is an invalid prim, the corresponding body relationship on the joint will be cleared and the joint will be connected between the valid body and the world.

The Joint’s local position & orientation relative to the new bodies will be authored to align to the specified position, orientation, and axis.

The axis specifies the primary axis for rotation or translation, based on the local joint orientation relative to each body.

  • To rotate or translate about the X-axis, specify (1, 0, 0). To operate in the opposite direction, specify (-1, 0, 0).

  • To rotate or translate about about the Y-axis, specify (0, 1, 0). To operate in the opposite direction, specify (0, -1, 0).

  • To rotate or translate about about the Z-axis, specify (0, 0, 1). To operate in the opposite direction, specify (0, 0, -1).

  • Any other direction will be aligned to X-axis via a local rotation or translation for both bodies.

Parameters:

  • joint – The joint to align

  • 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.

Returns:

void

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