UsdPhysicsDriveAPI Class Reference

The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target. More...

+ Inheritance diagram for UsdPhysicsDriveAPI:

Public Member Functions

 UsdPhysicsDriveAPI (const UsdPrim &prim=UsdPrim(), const TfToken &name=TfToken())
 Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name . More...
 
 UsdPhysicsDriveAPI (const UsdSchemaBase &schemaObj, const TfToken &name)
 Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name. More...
 
virtual USDPHYSICS_API ~UsdPhysicsDriveAPI ()
 Destructor. More...
 
TfToken GetName () const
 Returns the name of this multiple-apply schema instance. More...
 
USDPHYSICS_API UsdAttribute GetTypeAttr () const
 Drive spring is for the acceleration at the joint (rather than the force). More...
 
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. More...
 
USDPHYSICS_API UsdAttribute GetMaxForceAttr () const
 Maximum force that can be applied to drive. More...
 
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. More...
 
USDPHYSICS_API UsdAttribute GetTargetPositionAttr () const
 Target value for position. More...
 
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. More...
 
USDPHYSICS_API UsdAttribute GetTargetVelocityAttr () const
 Target value for velocity. More...
 
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. More...
 
USDPHYSICS_API UsdAttribute GetDampingAttr () const
 Damping of the drive. More...
 
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. More...
 
USDPHYSICS_API UsdAttribute GetStiffnessAttr () const
 Stiffness of the drive. More...
 
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. More...
 
- Public Member Functions inherited from UsdAPISchemaBase
 UsdAPISchemaBase (const UsdPrim &prim=UsdPrim())
 Construct a UsdAPISchemaBase on UsdPrim prim . More...
 
 UsdAPISchemaBase (const UsdSchemaBase &schemaObj)
 Construct a UsdAPISchemaBase on the prim held by schemaObj . More...
 
virtual USD_API ~UsdAPISchemaBase ()=0
 Destructor. More...
 
- Public Member Functions inherited from UsdSchemaBase
bool IsConcrete () const
 Returns whether or not this class corresponds to a concrete instantiable prim type in scene description. More...
 
bool IsTyped () const
 Returns whether or not this class inherits from UsdTyped. More...
 
bool IsAPISchema () const
 Returns whether this is an API schema or not. More...
 
bool IsAppliedAPISchema () const
 Returns whether this is an applied API schema or not. More...
 
bool IsMultipleApplyAPISchema () const
 Returns whether this is an applied API schema or not. More...
 
UsdSchemaKind GetSchemaKind () const
 Returns the kind of schema this class is. More...
 
USD_API UsdSchemaBase (const UsdPrim &prim=UsdPrim())
 Construct and store prim as the held prim. More...
 
USD_API UsdSchemaBase (const UsdSchemaBase &otherSchema)
 Construct and store for the same prim held by otherSchema. More...
 
virtual USD_API ~UsdSchemaBase ()
 Destructor. More...
 
USD_API operator bool () const
 
UsdPrim GetPrim () const
 Return this schema object's held prim. More...
 
SdfPath GetPath () const
 Shorthand for GetPrim()->GetPath(). More...
 
USD_API const UsdPrimDefinitionGetSchemaClassPrimDefinition () const
 Return the prim definition associated with this schema instance if one exists, otherwise return null. More...
 

Static Public Member Functions

static USDPHYSICS_API const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. More...
 
static USDPHYSICS_API TfTokenVector GetSchemaAttributeNames (bool includeInherited, const TfToken &instanceName)
 Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name. More...
 
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. More...
 
static USDPHYSICS_API UsdPhysicsDriveAPI Get (const UsdPrim &prim, const TfToken &name)
 Return a UsdPhysicsDriveAPI with name name holding the prim prim. More...
 
static USDPHYSICS_API bool IsSchemaPropertyBaseName (const TfToken &baseName)
 Checks if the given name baseName is the base name of a property of PhysicsDriveAPI. More...
 
static USDPHYSICS_API bool IsPhysicsDriveAPIPath (const SdfPath &path, TfToken *name)
 Checks if the given path path is of an API schema of type PhysicsDriveAPI. More...
 
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, name, to the given prim. More...
 
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, name. More...
 
- Static Public Member Functions inherited from UsdAPISchemaBase
static USD_API const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes. More...
 
- Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 

Static Public Attributes

static const UsdSchemaKind schemaKind = UsdSchemaKind::MultipleApplyAPI
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdAPISchemaBase
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractBase
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdSchemaBase
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractBase
 Compile time constant representing what kind of schema this class is. More...
 

Protected Member Functions

USDPHYSICS_API UsdSchemaKind _GetSchemaKind () const override
 Returns the kind of schema this class belongs to. More...
 
- Protected Member Functions inherited from UsdAPISchemaBase
 UsdAPISchemaBase (const UsdPrim &prim, const TfToken &instanceName)
 Construct a multiple-apply UsdAPISchemaBase on UsdPrim prim with the specified instanceName. More...
 
 UsdAPISchemaBase (const UsdSchemaBase &schemaObj, const TfToken &instanceName)
 Construct a multiple-apply UsdAPISchemaBase on the prim held by schemaObj with the given instanceName. More...
 
const TfToken_GetInstanceName () const
 Returns the instance name of the API schema object belonging to a multiple-apply API schema. More...
 
USD_API bool _IsCompatible () const override
 Check whether this APISchema object is valid for the currently held. More...
 
- Protected Member Functions inherited from UsdSchemaBase
virtual UsdSchemaKind _GetSchemaType () const
 
const TfType_GetType () const
 
USD_API UsdAttribute _CreateAttr (TfToken const &attrName, SdfValueTypeName const &typeName, bool custom, SdfVariability variability, VtValue const &defaultValue, bool writeSparsely) const
 

Friends

class UsdSchemaRegistry
 

Detailed Description

The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target.

The PhysicsDriveAPI is a multipleApply schema: drive can be set per axis "transX", "transY", "transZ", "rotX", "rotY", "rotZ" or its "linear" for prismatic joint or "angular" for revolute joints. Setting these as a multipleApply schema TfToken name will define the degree of freedom the DriveAPI is applied to. Each drive is an implicit force-limited damped spring: Force or acceleration = stiffness * (targetPosition - position)

  • damping * (targetVelocity - velocity)

For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in UsdPhysicsTokens. So to set an attribute to the value "rightHanded", use UsdPhysicsTokens->rightHanded as the value.

Definition at line 70 of file driveAPI.h.

Constructor & Destructor Documentation

◆ UsdPhysicsDriveAPI() [1/2]

UsdPhysicsDriveAPI ( const UsdPrim prim = UsdPrim(),
const TfToken name = TfToken() 
)
inlineexplicit

Construct a UsdPhysicsDriveAPI on UsdPrim prim with name name .

Equivalent to UsdPhysicsDriveAPI::Get( prim.GetStage(), prim.GetPath().AppendProperty( "drive:name"));

for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 87 of file driveAPI.h.

◆ UsdPhysicsDriveAPI() [2/2]

UsdPhysicsDriveAPI ( const UsdSchemaBase schemaObj,
const TfToken name 
)
inlineexplicit

Construct a UsdPhysicsDriveAPI on the prim held by schemaObj with name name.

Should be preferred over UsdPhysicsDriveAPI(schemaObj.GetPrim(), name), as it preserves SchemaBase state.

Definition at line 96 of file driveAPI.h.

◆ ~UsdPhysicsDriveAPI()

virtual USDPHYSICS_API ~UsdPhysicsDriveAPI ( )
virtual

Destructor.

Member Function Documentation

◆ _GetSchemaKind()

USDPHYSICS_API UsdSchemaKind _GetSchemaKind ( ) const
overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See also
UsdSchemaKind

Reimplemented from UsdAPISchemaBase.

◆ Apply()

static USDPHYSICS_API UsdPhysicsDriveAPI Apply ( const UsdPrim prim,
const TfToken name 
)
static

Applies this multiple-apply API schema to the given prim along with the given instance name, name.

This information is stored by adding "PhysicsDriveAPI:<i>name</i>" to the token-valued, listOp metadata apiSchemas on the prim. For example, if name is 'instance1', the token 'PhysicsDriveAPI:instance1' is added to 'apiSchemas'.

Returns
A valid UsdPhysicsDriveAPI object is returned upon success. An invalid (or empty) UsdPhysicsDriveAPI object is returned upon failure. See UsdPrim::ApplyAPI() for conditions resulting in failure.
See also
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

◆ CanApply()

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

Returns true if this multiple-apply API schema can be applied, with the given instance name, name, to the given prim.

If this schema can not be a applied the prim, this returns false and, if provided, populates whyNot with the reason it can not be applied.

Note that if CanApply returns false, that does not necessarily imply that calling Apply will fail. Callers are expected to call CanApply before calling Apply if they want to ensure that it is valid to apply a schema.

See also
UsdPrim::GetAppliedSchemas()
UsdPrim::HasAPI()
UsdPrim::CanApplyAPI()
UsdPrim::ApplyAPI()
UsdPrim::RemoveAPI()

◆ CreateDampingAttr()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

◆ CreateMaxForceAttr()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

◆ CreateStiffnessAttr()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

◆ CreateTargetPositionAttr()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

◆ CreateTargetVelocityAttr()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

◆ CreateTypeAttr()

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.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

◆ Get() [1/2]

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

Return a UsdPhysicsDriveAPI holding the prim adhering to this schema at path on stage.

If no prim exists at path on stage, or if the prim at that path does not adhere to this schema, return an invalid schema object. path must be of the format <path>.drive:name .

This is shorthand for the following:

TfToken name = SdfPath::StripNamespace(path.GetToken());
stage->GetPrimAtPath(path.GetPrimPath()), name);

◆ Get() [2/2]

static USDPHYSICS_API UsdPhysicsDriveAPI Get ( const UsdPrim prim,
const TfToken name 
)
static

Return a UsdPhysicsDriveAPI with name name holding the prim prim.

Shorthand for UsdPhysicsDriveAPI(prim, name);

◆ GetDampingAttr()

USDPHYSICS_API UsdAttribute GetDampingAttr ( ) const

Damping of the drive.

Units: if linear drive: mass/second If angular drive: mass*DIST_UNITS*DIST_UNITS/second/second/degrees.

Declaration float physics:damping = 0
C++ Type float
Usd Type SdfValueTypeNames->Float

◆ GetMaxForceAttr()

USDPHYSICS_API UsdAttribute GetMaxForceAttr ( ) const

Maximum force that can be applied to drive.

Units: if linear drive: mass*DIST_UNITS/second/second if angular drive: mass*DIST_UNITS*DIST_UNITS/second/second inf means not limited. Must be non-negative.

Declaration float physics:maxForce = inf
C++ Type float
Usd Type SdfValueTypeNames->Float

◆ GetName()

TfToken GetName ( ) const
inline

Returns the name of this multiple-apply schema instance.

Definition at line 122 of file driveAPI.h.

◆ GetSchemaAttributeNames() [1/2]

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

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.

Does not include attributes that may be authored by custom/extended methods of the schemas involved.

◆ GetSchemaAttributeNames() [2/2]

static USDPHYSICS_API TfTokenVector GetSchemaAttributeNames ( bool  includeInherited,
const TfToken instanceName 
)
static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes for a given instance name.

Does not include attributes that may be authored by custom/extended methods of the schemas involved. The names returned will have the proper namespace prefix.

◆ GetStiffnessAttr()

USDPHYSICS_API UsdAttribute GetStiffnessAttr ( ) const

Stiffness of the drive.

Units: if linear drive: mass/second/second if angular drive: mass*DIST_UNITS*DIST_UNITS/degree/second/second.

Declaration float physics:stiffness = 0
C++ Type float
Usd Type SdfValueTypeNames->Float

◆ GetTargetPositionAttr()

USDPHYSICS_API UsdAttribute GetTargetPositionAttr ( ) const

Target value for position.

Units: if linear drive: distance if angular drive: degrees.

Declaration float physics:targetPosition = 0
C++ Type float
Usd Type SdfValueTypeNames->Float

◆ GetTargetVelocityAttr()

USDPHYSICS_API UsdAttribute GetTargetVelocityAttr ( ) const

Target value for velocity.

Units: if linear drive: distance/second if angular drive: degrees/second.

Declaration float physics:targetVelocity = 0
C++ Type float
Usd Type SdfValueTypeNames->Float

◆ GetTypeAttr()

USDPHYSICS_API UsdAttribute GetTypeAttr ( ) const

Drive spring is for the acceleration at the joint (rather than the force).

Declaration uniform token physics:type = "force"
C++ Type TfToken
Usd Type SdfValueTypeNames->Token
Variability SdfVariabilityUniform
Allowed Values force, acceleration

◆ IsPhysicsDriveAPIPath()

static USDPHYSICS_API bool IsPhysicsDriveAPIPath ( const SdfPath path,
TfToken name 
)
static

Checks if the given path path is of an API schema of type PhysicsDriveAPI.

If so, it stores the instance name of the schema in name and returns true. Otherwise, it returns false.

◆ IsSchemaPropertyBaseName()

static USDPHYSICS_API bool IsSchemaPropertyBaseName ( const TfToken baseName)
static

Checks if the given name baseName is the base name of a property of PhysicsDriveAPI.

Member Data Documentation

◆ schemaKind

Compile time constant representing what kind of schema this class is.

See also
UsdSchemaKind

Definition at line 76 of file driveAPI.h.


The documentation for this class was generated from the following file: