UsdPhysicsMassAPI Class Reference

Defines explicit mass properties (mass, density, inertia etc.). More...

+ Inheritance diagram for UsdPhysicsMassAPI:

Public Member Functions

 UsdPhysicsMassAPI (const UsdPrim &prim=UsdPrim())
 Construct a UsdPhysicsMassAPI on UsdPrim prim . More...
 
 UsdPhysicsMassAPI (const UsdSchemaBase &schemaObj)
 Construct a UsdPhysicsMassAPI on the prim held by schemaObj . More...
 
virtual USDPHYSICS_API ~UsdPhysicsMassAPI ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetMassAttr () const
 If non-zero, directly specifies the mass of the object. More...
 
USDPHYSICS_API UsdAttribute CreateMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetMassAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetDensityAttr () const
 If non-zero, specifies the density of the object. More...
 
USDPHYSICS_API UsdAttribute CreateDensityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetDensityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetCenterOfMassAttr () const
 Center of mass in the prim's local space. More...
 
USDPHYSICS_API UsdAttribute CreateCenterOfMassAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetCenterOfMassAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetDiagonalInertiaAttr () const
 If non-zero, specifies diagonalized inertia tensor along the principal axes. More...
 
USDPHYSICS_API UsdAttribute CreateDiagonalInertiaAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetDiagonalInertiaAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetPrincipalAxesAttr () const
 Orientation of the inertia tensor's principal axes in the prim's local space. More...
 
USDPHYSICS_API UsdAttribute CreatePrincipalAxesAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetPrincipalAxesAttr(), 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 UsdPhysicsMassAPI Get (const UsdStagePtr &stage, const SdfPath &path)
 Return a UsdPhysicsMassAPI holding the prim adhering to this schema at path on stage. More...
 
static USDPHYSICS_API bool CanApply (const UsdPrim &prim, std::string *whyNot=nullptr)
 Returns true if this single-apply API schema can be applied to the given prim. More...
 
static USDPHYSICS_API UsdPhysicsMassAPI Apply (const UsdPrim &prim)
 Applies this single-apply API schema to the given prim. 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::SingleApplyAPI
 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

Defines explicit mass properties (mass, density, inertia etc.).

MassAPI can be applied to any object that has a PhysicsCollisionAPI or a PhysicsRigidBodyAPI.

Definition at line 59 of file massAPI.h.

Constructor & Destructor Documentation

◆ UsdPhysicsMassAPI() [1/2]

UsdPhysicsMassAPI ( const UsdPrim prim = UsdPrim())
inlineexplicit

Construct a UsdPhysicsMassAPI on UsdPrim prim .

Equivalent to UsdPhysicsMassAPI::Get(prim.GetStage(), prim.GetPath()) for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 71 of file massAPI.h.

◆ UsdPhysicsMassAPI() [2/2]

UsdPhysicsMassAPI ( const UsdSchemaBase schemaObj)
inlineexplicit

Construct a UsdPhysicsMassAPI on the prim held by schemaObj .

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

Definition at line 79 of file massAPI.h.

◆ ~UsdPhysicsMassAPI()

virtual USDPHYSICS_API ~UsdPhysicsMassAPI ( )
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 UsdPhysicsMassAPI Apply ( const UsdPrim prim)
static

Applies this single-apply API schema to the given prim.

This information is stored by adding "PhysicsMassAPI" to the token-valued, listOp metadata apiSchemas on the prim.

Returns
A valid UsdPhysicsMassAPI object is returned upon success. An invalid (or empty) UsdPhysicsMassAPI 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,
std::string *  whyNot = nullptr 
)
static

Returns true if this single-apply API schema can be applied to the given prim.

If this schema can not be a applied to 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()

◆ CreateCenterOfMassAttr()

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

See GetCenterOfMassAttr(), 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.

◆ CreateDensityAttr()

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

See GetDensityAttr(), 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.

◆ CreateDiagonalInertiaAttr()

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

See GetDiagonalInertiaAttr(), 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.

◆ CreateMassAttr()

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

See GetMassAttr(), 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.

◆ CreatePrincipalAxesAttr()

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

See GetPrincipalAxesAttr(), 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()

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

Return a UsdPhysicsMassAPI 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. This is shorthand for the following:

UsdPhysicsMassAPI(stage->GetPrimAtPath(path));

◆ GetCenterOfMassAttr()

USDPHYSICS_API UsdAttribute GetCenterOfMassAttr ( ) const

Center of mass in the prim's local space.

Units: distance.

Declaration point3f physics:centerOfMass = (-inf, -inf, -inf)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Point3f

◆ GetDensityAttr()

USDPHYSICS_API UsdAttribute GetDensityAttr ( ) const

If non-zero, specifies the density of the object.

In the context of rigid body physics, density indirectly results in setting mass via (mass = density x volume of the object). How the volume is computed is up to implementation of the physics system. It is generally computed from the collision approximation rather than the graphical mesh. In the case where both density and mass are specified for the same object, mass has precedence over density. Unlike mass, child's prim's density overrides parent prim's density as it is accumulative. Note that density of a collisionAPI can be also alternatively set through a PhysicsMaterialAPI. The material density has the weakest precedence in density definition. Note if density is 0.0 it is ignored. Units: mass/distance/distance/distance.

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

◆ GetDiagonalInertiaAttr()

USDPHYSICS_API UsdAttribute GetDiagonalInertiaAttr ( ) const

If non-zero, specifies diagonalized inertia tensor along the principal axes.

Note if diagonalInertial is (0.0, 0.0, 0.0) it is ignored. Units: mass*distance*distance.

Declaration float3 physics:diagonalInertia = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Float3

◆ GetMassAttr()

USDPHYSICS_API UsdAttribute GetMassAttr ( ) const

If non-zero, directly specifies the mass of the object.

Note that any child prim can also have a mass when they apply massAPI. In this case, the precedence rule is 'parent mass overrides the child's'. This may come as counter-intuitive, but mass is a computed quantity and in general not accumulative. For example, if a parent has mass of 10, and one of two children has mass of 20, allowing child's mass to override its parent results in a mass of -10 for the other child. Note if mass is 0.0 it is ignored. Units: mass.

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

◆ GetPrincipalAxesAttr()

USDPHYSICS_API UsdAttribute GetPrincipalAxesAttr ( ) const

Orientation of the inertia tensor's principal axes in the prim's local space.

Declaration quatf physics:principalAxes = (0, 0, 0, 0)
C++ Type GfQuatf
Usd Type SdfValueTypeNames->Quatf

◆ GetSchemaAttributeNames()

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.

Member Data Documentation

◆ schemaKind

const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI
static

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

See also
UsdSchemaKind

Definition at line 65 of file massAPI.h.


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