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driveAPI.h
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1 //
2 // Copyright 2016 Pixar
3 //
4 // Licensed under the Apache License, Version 2.0 (the "Apache License")
5 // with the following modification; you may not use this file except in
6 // compliance with the Apache License and the following modification to it:
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14 // You may obtain a copy of the Apache License at
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24 #ifndef USDPHYSICS_GENERATED_DRIVEAPI_H
25 #define USDPHYSICS_GENERATED_DRIVEAPI_H
26 
28 
29 #include "pxr/pxr.h"
30 #include "pxr/usd/usdPhysics/api.h"
32 #include "pxr/usd/usd/prim.h"
33 #include "pxr/usd/usd/stage.h"
35 
36 #include "pxr/base/vt/value.h"
37 
38 #include "pxr/base/gf/vec3d.h"
39 #include "pxr/base/gf/vec3f.h"
40 #include "pxr/base/gf/matrix4d.h"
41 
42 #include "pxr/base/tf/token.h"
43 #include "pxr/base/tf/type.h"
44 
45 PXR_NAMESPACE_OPEN_SCOPE
46 
47 class SdfAssetPath;
48 
49 // -------------------------------------------------------------------------- //
50 // PHYSICSDRIVEAPI //
51 // -------------------------------------------------------------------------- //
52 
71 {
72 public:
77 
88  const UsdPrim& prim=UsdPrim(), const TfToken &name=TfToken())
89  : UsdAPISchemaBase(prim, /*instanceName*/ name)
90  { }
91 
97  const UsdSchemaBase& schemaObj, const TfToken &name)
98  : UsdAPISchemaBase(schemaObj, /*instanceName*/ name)
99  { }
100 
102  USDPHYSICS_API
103  virtual ~UsdPhysicsDriveAPI();
104 
110  USDPHYSICS_API
111  static const TfTokenVector &
113  bool includeInherited=true, const TfToken instanceName=TfToken());
114 
116  TfToken GetName() const {
117  return _GetInstanceName();
118  }
119 
134  USDPHYSICS_API
135  static UsdPhysicsDriveAPI
136  Get(const UsdStagePtr &stage, const SdfPath &path);
137 
140  USDPHYSICS_API
141  static UsdPhysicsDriveAPI
142  Get(const UsdPrim &prim, const TfToken &name);
143 
146  USDPHYSICS_API
147  static bool
148  IsSchemaPropertyBaseName(const TfToken &baseName);
149 
153  USDPHYSICS_API
154  static bool
155  IsPhysicsDriveAPIPath(const SdfPath &path, TfToken *name);
156 
173  USDPHYSICS_API
174  static bool
175  CanApply(const UsdPrim &prim, const TfToken &name,
176  std::string *whyNot=nullptr);
177 
197  USDPHYSICS_API
198  static UsdPhysicsDriveAPI
199  Apply(const UsdPrim &prim, const TfToken &name);
200 
201 protected:
205  USDPHYSICS_API
206  UsdSchemaKind _GetSchemaKind() const override;
207 
208 private:
209  // needs to invoke _GetStaticTfType.
210  friend class UsdSchemaRegistry;
211  USDPHYSICS_API
212  static const TfType &_GetStaticTfType();
213 
214  static bool _IsTypedSchema();
215 
216  // override SchemaBase virtuals.
217  USDPHYSICS_API
218  const TfType &_GetTfType() const override;
219 
220 public:
221  // --------------------------------------------------------------------- //
222  // TYPE
223  // --------------------------------------------------------------------- //
234  USDPHYSICS_API
235  UsdAttribute GetTypeAttr() const;
236 
242  USDPHYSICS_API
243  UsdAttribute CreateTypeAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
244 
245 public:
246  // --------------------------------------------------------------------- //
247  // MAXFORCE
248  // --------------------------------------------------------------------- //
260  USDPHYSICS_API
262 
268  USDPHYSICS_API
269  UsdAttribute CreateMaxForceAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
270 
271 public:
272  // --------------------------------------------------------------------- //
273  // TARGETPOSITION
274  // --------------------------------------------------------------------- //
284  USDPHYSICS_API
286 
292  USDPHYSICS_API
293  UsdAttribute CreateTargetPositionAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
294 
295 public:
296  // --------------------------------------------------------------------- //
297  // TARGETVELOCITY
298  // --------------------------------------------------------------------- //
308  USDPHYSICS_API
310 
316  USDPHYSICS_API
317  UsdAttribute CreateTargetVelocityAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
318 
319 public:
320  // --------------------------------------------------------------------- //
321  // DAMPING
322  // --------------------------------------------------------------------- //
332  USDPHYSICS_API
334 
340  USDPHYSICS_API
341  UsdAttribute CreateDampingAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
342 
343 public:
344  // --------------------------------------------------------------------- //
345  // STIFFNESS
346  // --------------------------------------------------------------------- //
356  USDPHYSICS_API
358 
364  USDPHYSICS_API
365  UsdAttribute CreateStiffnessAttr(VtValue const &defaultValue = VtValue(), bool writeSparsely=false) const;
366 
367 public:
368  // ===================================================================== //
369  // Feel free to add custom code below this line, it will be preserved by
370  // the code generator.
371  //
372  // Just remember to:
373  // - Close the class declaration with };
374  // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
375  // - Close the include guard with #endif
376  // ===================================================================== //
377  // --(BEGIN CUSTOM CODE)--
378 };
379 
380 PXR_NAMESPACE_CLOSE_SCOPE
381 
382 #endif
UsdPhysicsDriveAPI(const UsdSchemaBase &schemaObj, const TfToken &name)
Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name.
Definition: driveAPI.h:96
USDPHYSICS_API UsdAttribute GetTargetVelocityAttr() const
Target value for velocity.
USDPHYSICS_API UsdAttribute GetTypeAttr() const
Drive spring is for the acceleration at the joint (rather than the force).
The base class for all API schemas.
USDPHYSICS_API UsdAttribute GetDampingAttr() const
Damping of the drive.
Scenegraph object for authoring and retrieving numeric, string, and array valued data, sampled over time.
Definition: attribute.h:176
static USDPHYSICS_API const TfTokenVector & GetSchemaAttributeNames(bool includeInherited=true, const TfToken instanceName=TfToken())
Return a vector of names of all pre-declared attributes for this schema class and all its ancestor cl...
static USDPHYSICS_API bool IsPhysicsDriveAPIPath(const SdfPath &path, TfToken *name)
Checks if the given path path is of an API schema of type PhysicsDriveAPI.
UsdSchemaKind
An enum representing which kind of schema a given schema class belongs to.
Definition: common.h:127
static const UsdSchemaKind schemaKind
Compile time constant representing what kind of schema this class is.
Definition: driveAPI.h:76
Token for efficient comparison, assignment, and hashing of known strings.
Definition: token.h:87
USDPHYSICS_API UsdAttribute CreateTargetVelocityAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetTargetVelocityAttr(), and also Create vs Get Property Methods for when to use Get vs Create...
static USDPHYSICS_API UsdPhysicsDriveAPI Apply(const UsdPrim &prim, const TfToken &name)
Applies this multiple-apply API schema to the given prim along with the given instance name...
USDPHYSICS_API UsdAttribute GetStiffnessAttr() const
Stiffness of the drive.
static USDPHYSICS_API bool CanApply(const UsdPrim &prim, const TfToken &name, std::string *whyNot=nullptr)
Returns true if this multiple-apply API schema can be applied, with the given instance name...
The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target...
Definition: driveAPI.h:70
UsdPrim is the sole persistent scenegraph object on a UsdStage, and is the embodiment of a "Prim" as ...
Definition: prim.h:132
std::vector< TfToken > TfTokenVector
Convenience types.
Definition: token.h:442
USDPHYSICS_API UsdAttribute CreateDampingAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetDampingAttr(), and also Create vs Get Property Methods for when to use Get vs Create...
A path value used to locate objects in layers or scenegraphs.
Definition: path.h:288
TfToken GetName() const
Returns the name of this multiple-apply schema instance.
Definition: driveAPI.h:116
virtual USDPHYSICS_API ~UsdPhysicsDriveAPI()
Destructor.
Contains an asset path and an optional resolved path.
Definition: assetPath.h:47
Multiple Apply API Schema.
USDPHYSICS_API UsdAttribute GetTargetPositionAttr() const
Target value for position.
USDPHYSICS_API UsdAttribute CreateMaxForceAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetMaxForceAttr(), and also Create vs Get Property Methods for when to use Get vs Create...
USDPHYSICS_API UsdAttribute CreateTypeAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetTypeAttr(), and also Create vs Get Property Methods for when to use Get vs Create...
static USDPHYSICS_API UsdPhysicsDriveAPI Get(const UsdStagePtr &stage, const SdfPath &path)
Return a UsdPhysicsDriveAPI holding the prim adhering to this schema at path on stage.
USDPHYSICS_API UsdAttribute CreateStiffnessAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetStiffnessAttr(), and also Create vs Get Property Methods for when to use Get vs Create...
TfType represents a dynamic runtime type.
Definition: type.h:64
Singleton registry that provides access to schema type information and the prim definitions for regis...
USDPHYSICS_API UsdAttribute GetMaxForceAttr() const
Maximum force that can be applied to drive.
The base class for all schema types in Usd.
Definition: schemaBase.h:56
UsdPhysicsDriveAPI(const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name .
Definition: driveAPI.h:87
USDPHYSICS_API UsdSchemaKind _GetSchemaKind() const override
Returns the kind of schema this class belongs to.
static USDPHYSICS_API bool IsSchemaPropertyBaseName(const TfToken &baseName)
Checks if the given name baseName is the base name of a property of PhysicsDriveAPI.
Provides a container which may hold any type, and provides introspection and iteration over array typ...
Definition: value.h:168
TfToken class for efficient string referencing and hashing, plus conversions to and from stl string c...
const TfToken & _GetInstanceName() const
Returns the instance name of the API schema object belonging to a multiple-apply API schema...
USDPHYSICS_API UsdAttribute CreateTargetPositionAttr(VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
See GetTargetPositionAttr(), and also Create vs Get Property Methods for when to use Get vs Create...