rigidBodyAPI.h

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//
// Copyright 2016 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
// Section 6. Trademarks. is deleted and replaced with:
//
// 6. Trademarks. This License does not grant permission to use the trade
//    names, trademarks, service marks, or product names of the Licensor
//    and its affiliates, except as required to comply with Section 4(c) of
//    the License and to reproduce the content of the NOTICE file.
//
// You may obtain a copy of the Apache License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the Apache License with the above modification is
// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
// KIND, either express or implied. See the Apache License for the specific
// language governing permissions and limitations under the Apache License.
//
#ifndef USDPHYSICS_GENERATED_RIGIDBODYAPI_H
#define USDPHYSICS_GENERATED_RIGIDBODYAPI_H


#include "pxr/pxr.h"
#include "pxr/usd/usdPhysics/api.h"
#include "pxr/usd/usd/apiSchemaBase.h"
#include "pxr/usd/usd/prim.h"
#include "pxr/usd/usd/stage.h"
#include "pxr/usd/usdPhysics/tokens.h"

#include "pxr/base/gf/matrix3f.h"
#include "pxr/base/gf/quatf.h" 

#include "pxr/base/vt/value.h"

#include "pxr/base/gf/vec3d.h"
#include "pxr/base/gf/vec3f.h"
#include "pxr/base/gf/matrix4d.h"

#include "pxr/base/tf/token.h"
#include "pxr/base/tf/type.h"

PXR_NAMESPACE_OPEN_SCOPE

class SdfAssetPath;

// -------------------------------------------------------------------------- //
// PHYSICSRIGIDBODYAPI                                                        //
// -------------------------------------------------------------------------- //

class UsdPhysicsRigidBodyAPI : public UsdAPISchemaBase
{
public:
    static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;

    explicit UsdPhysicsRigidBodyAPI(const UsdPrim& prim=UsdPrim())
        : UsdAPISchemaBase(prim)
    {
    }

    explicit UsdPhysicsRigidBodyAPI(const UsdSchemaBase& schemaObj)
        : UsdAPISchemaBase(schemaObj)
    {
    }

    USDPHYSICS_API
    virtual ~UsdPhysicsRigidBodyAPI();

    USDPHYSICS_API
    static const TfTokenVector &
    GetSchemaAttributeNames(bool includeInherited=true);

    USDPHYSICS_API
    static UsdPhysicsRigidBodyAPI
    Get(const UsdStagePtr &stage, const SdfPath &path);


    USDPHYSICS_API
    static bool 
    CanApply(const UsdPrim &prim, std::string *whyNot=nullptr);

    USDPHYSICS_API
    static UsdPhysicsRigidBodyAPI 
    Apply(const UsdPrim &prim);

protected:
    USDPHYSICS_API
    UsdSchemaKind _GetSchemaKind() const override;

private:
    // needs to invoke _GetStaticTfType.
    friend class UsdSchemaRegistry;
    USDPHYSICS_API
    static const TfType &_GetStaticTfType();

    static bool _IsTypedSchema();

    // override SchemaBase virtuals.
    USDPHYSICS_API
    const TfType &_GetTfType() const override;

public:
    // --------------------------------------------------------------------- //
    // RIGIDBODYENABLED 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetRigidBodyEnabledAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateRigidBodyEnabledAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // KINEMATICENABLED 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetKinematicEnabledAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateKinematicEnabledAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // STARTSASLEEP 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetStartsAsleepAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateStartsAsleepAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // VELOCITY 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetVelocityAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // ANGULARVELOCITY 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdAttribute GetAngularVelocityAttr() const;

    USDPHYSICS_API
    UsdAttribute CreateAngularVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;

public:
    // --------------------------------------------------------------------- //
    // SIMULATIONOWNER 
    // --------------------------------------------------------------------- //
    USDPHYSICS_API
    UsdRelationship GetSimulationOwnerRel() const;

    USDPHYSICS_API
    UsdRelationship CreateSimulationOwnerRel() const;

public:
    // ===================================================================== //
    // Feel free to add custom code below this line, it will be preserved by 
    // the code generator. 
    //
    // Just remember to: 
    //  - Close the class declaration with }; 
    //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
    //  - Close the include guard with #endif
    // ===================================================================== //
    // --(BEGIN CUSTOM CODE)--

    struct MassInformation
    {
        float volume;           //< Collision volume
        GfMatrix3f inertia;     //< Collision inertia
        GfVec3f centerOfMass;   //< Collision center of mass
        GfVec3f localPos;       //< Collision local position with respect to the rigid body
        GfQuatf localRot;       //< Collision local rotation with respect to the rigid body
    };

    typedef MassInformation MassInformationFnSig(const UsdPrim&);    
    typedef std::function<MassInformationFnSig> MassInformationFn;

    USDPHYSICS_API
    float ComputeMassProperties(GfVec3f* diagonalInertia, GfVec3f* com, GfQuatf* principalAxes, 
        const MassInformationFn& massInfoFn) const;

};

PXR_NAMESPACE_CLOSE_SCOPE

#endif