UsdPhysicsPrismaticJoint Class Reference

Predefined prismatic joint type (translation along prismatic joint axis is permitted.) More...

+ Inheritance diagram for UsdPhysicsPrismaticJoint:

Public Member Functions

 UsdPhysicsPrismaticJoint (const UsdPrim &prim=UsdPrim())
 Construct a UsdPhysicsPrismaticJoint on UsdPrim prim . More...
 
 UsdPhysicsPrismaticJoint (const UsdSchemaBase &schemaObj)
 Construct a UsdPhysicsPrismaticJoint on the prim held by schemaObj . More...
 
virtual USDPHYSICS_API ~UsdPhysicsPrismaticJoint ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetAxisAttr () const
 Joint axis. More...
 
USDPHYSICS_API UsdAttribute CreateAxisAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetAxisAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetLowerLimitAttr () const
 Lower limit. More...
 
USDPHYSICS_API UsdAttribute CreateLowerLimitAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetLowerLimitAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetUpperLimitAttr () const
 Upper limit. More...
 
USDPHYSICS_API UsdAttribute CreateUpperLimitAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetUpperLimitAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
- Public Member Functions inherited from UsdPhysicsJoint
 UsdPhysicsJoint (const UsdPrim &prim=UsdPrim())
 Construct a UsdPhysicsJoint on UsdPrim prim . More...
 
 UsdPhysicsJoint (const UsdSchemaBase &schemaObj)
 Construct a UsdPhysicsJoint on the prim held by schemaObj . More...
 
virtual USDPHYSICS_API ~UsdPhysicsJoint ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetLocalPos0Attr () const
 Relative position of the joint frame to body0's frame. More...
 
USDPHYSICS_API UsdAttribute CreateLocalPos0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetLocalPos0Attr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetLocalRot0Attr () const
 Relative orientation of the joint frame to body0's frame. More...
 
USDPHYSICS_API UsdAttribute CreateLocalRot0Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetLocalRot0Attr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetLocalPos1Attr () const
 Relative position of the joint frame to body1's frame. More...
 
USDPHYSICS_API UsdAttribute CreateLocalPos1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetLocalPos1Attr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetLocalRot1Attr () const
 Relative orientation of the joint frame to body1's frame. More...
 
USDPHYSICS_API UsdAttribute CreateLocalRot1Attr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetLocalRot1Attr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetJointEnabledAttr () const
 Determines if the joint is enabled. More...
 
USDPHYSICS_API UsdAttribute CreateJointEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetJointEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetCollisionEnabledAttr () const
 Determines if the jointed subtrees should collide or not. More...
 
USDPHYSICS_API UsdAttribute CreateCollisionEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetCollisionEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetExcludeFromArticulationAttr () const
 Determines if the joint can be included in an Articulation. More...
 
USDPHYSICS_API UsdAttribute CreateExcludeFromArticulationAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetExcludeFromArticulationAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetBreakForceAttr () const
 Joint break force. More...
 
USDPHYSICS_API UsdAttribute CreateBreakForceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetBreakForceAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetBreakTorqueAttr () const
 Joint break torque. More...
 
USDPHYSICS_API UsdAttribute CreateBreakTorqueAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetBreakTorqueAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdRelationship GetBody0Rel () const
 Relationship to any UsdGeomXformable. More...
 
USDPHYSICS_API UsdRelationship CreateBody0Rel () const
 See GetBody0Rel(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdRelationship GetBody1Rel () const
 Relationship to any UsdGeomXformable. More...
 
USDPHYSICS_API UsdRelationship CreateBody1Rel () const
 See GetBody1Rel(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
- Public Member Functions inherited from UsdGeomImageable
 UsdGeomImageable (const UsdPrim &prim=UsdPrim())
 Construct a UsdGeomImageable on UsdPrim prim . More...
 
 UsdGeomImageable (const UsdSchemaBase &schemaObj)
 Construct a UsdGeomImageable on the prim held by schemaObj . More...
 
virtual USDGEOM_API ~UsdGeomImageable ()
 Destructor. More...
 
USDGEOM_API UsdAttribute GetVisibilityAttr () const
 Visibility is meant to be the simplest form of "pruning" visibility that is supported by most DCC apps. More...
 
USDGEOM_API UsdAttribute CreateVisibilityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetVisibilityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDGEOM_API UsdAttribute GetPurposeAttr () const
 Purpose is a classification of geometry into categories that can each be independently included or excluded from traversals of prims on a stage, such as rendering or bounding-box computation traversals. More...
 
USDGEOM_API UsdAttribute CreatePurposeAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetPurposeAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDGEOM_API UsdRelationship GetProxyPrimRel () const
 The proxyPrim relationship allows us to link a prim whose purpose is "render" to its (single target) purpose="proxy" prim. More...
 
USDGEOM_API UsdRelationship CreateProxyPrimRel () const
 See GetProxyPrimRel(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDGEOM_API void MakeVisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
 Make the imageable visible if it is invisible at the given time. More...
 
USDGEOM_API void MakeInvisible (const UsdTimeCode &time=UsdTimeCode::Default()) const
 Makes the imageable invisible if it is visible at the given time. More...
 
USDGEOM_API TfToken ComputeVisibility (UsdTimeCode const &time=UsdTimeCode::Default()) const
 Calculate the effective visibility of this prim, as defined by its most ancestral authored "invisible" opinion, if any. More...
 
USDGEOM_API UsdAttribute GetPurposeVisibilityAttr (const TfToken &purpose=UsdGeomTokens->default_) const
 Return the attribute that is used for expressing visibility opinions for the given purpose. More...
 
USDGEOM_API TfToken ComputeEffectiveVisibility (const TfToken &purpose=UsdGeomTokens->default_, const UsdTimeCode &time=UsdTimeCode::Default()) const
 Calculate the effective purpose visibility of this prim for the given purpose, taking into account opinions for the corresponding purpose attribute, along with overall visibility opinions. More...
 
USDGEOM_API PurposeInfo ComputePurposeInfo () const
 Calculate the effective purpose information about this prim which includes final computed purpose value of the prim as well as whether the purpose value should be inherited by namespace children without their own purpose opinions. More...
 
USDGEOM_API PurposeInfo ComputePurposeInfo (const PurposeInfo &parentPurposeInfo) const
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Calculates the effective purpose information about this prim, given the computed purpose information of its parent prim. More...
 
USDGEOM_API TfToken ComputePurpose () const
 Calculate the effective purpose information about this prim. More...
 
USDGEOM_API UsdPrim ComputeProxyPrim (UsdPrim *renderPrim=NULL) const
 Find the prim whose purpose is proxy that serves as the proxy for this prim, as established by the GetProxyPrimRel(), or an invalid UsdPrim if this prim has no proxy. More...
 
USDGEOM_API bool SetProxyPrim (const UsdPrim &proxy) const
 Convenience function for authoring the renderProxy rel on this prim to target the given proxy prim. More...
 
USDGEOM_API bool SetProxyPrim (const UsdSchemaBase &proxy) const
 
USDGEOM_API GfBBox3d ComputeWorldBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
 Compute the bound of this prim in world space, at the specified time, and for the specified purposes. More...
 
USDGEOM_API GfBBox3d ComputeLocalBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
 Compute the bound of this prim in local space, at the specified time, and for the specified purposes. More...
 
USDGEOM_API GfBBox3d ComputeUntransformedBound (UsdTimeCode const &time, TfToken const &purpose1=TfToken(), TfToken const &purpose2=TfToken(), TfToken const &purpose3=TfToken(), TfToken const &purpose4=TfToken()) const
 Compute the untransformed bound of this prim, at the specified time, and for the specified purposes. More...
 
USDGEOM_API GfMatrix4d ComputeLocalToWorldTransform (UsdTimeCode const &time) const
 Compute the transformation matrix for this prim at the given time, including the transform authored on the Prim itself, if present. More...
 
USDGEOM_API GfMatrix4d ComputeParentToWorldTransform (UsdTimeCode const &time) const
 Compute the transformation matrix for this prim at the given time, NOT including the transform authored on the prim itself. More...
 
USDGEOM_API UsdGeomPrimvar CreatePrimvar (const TfToken &attrName, const SdfValueTypeName &typeName, const TfToken &interpolation=TfToken(), int elementSize=-1) const
 
USDGEOM_API UsdGeomPrimvar GetPrimvar (const TfToken &name) const
 
USDGEOM_API std::vector< UsdGeomPrimvarGetPrimvars () const
 
USDGEOM_API std::vector< UsdGeomPrimvarGetAuthoredPrimvars () const
 
USDGEOM_API bool HasPrimvar (const TfToken &name) const
 
- Public Member Functions inherited from UsdTyped
 UsdTyped (const UsdPrim &prim=UsdPrim())
 Construct a UsdTyped on UsdPrim prim . More...
 
 UsdTyped (const UsdSchemaBase &schemaObj)
 Construct a UsdTyped on the prim wrapped by schemaObj . 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 UsdPhysicsPrismaticJoint Get (const UsdStagePtr &stage, const SdfPath &path)
 Return a UsdPhysicsPrismaticJoint holding the prim adhering to this schema at path on stage. More...
 
static USDPHYSICS_API UsdPhysicsPrismaticJoint Define (const UsdStagePtr &stage, const SdfPath &path)
 Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage. More...
 
- Static Public Member Functions inherited from UsdPhysicsJoint
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 UsdPhysicsJoint Get (const UsdStagePtr &stage, const SdfPath &path)
 Return a UsdPhysicsJoint holding the prim adhering to this schema at path on stage. More...
 
static USDPHYSICS_API UsdPhysicsJoint Define (const UsdStagePtr &stage, const SdfPath &path)
 Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage. More...
 
- Static Public Member Functions inherited from UsdGeomImageable
static USDGEOM_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 USDGEOM_API UsdGeomImageable Get (const UsdStagePtr &stage, const SdfPath &path)
 Return a UsdGeomImageable holding the prim adhering to this schema at path on stage. More...
 
static USDGEOM_API const TfTokenVectorGetOrderedPurposeTokens ()
 Returns an ordered list of allowed values of the purpose attribute. More...
 
- Static Public Member Functions inherited from UsdTyped
static 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 USD_API UsdTyped Get (const UsdStagePtr &stage, const SdfPath &path)
 Return a UsdTyped holding the prim adhering to this schema at path on stage. More...
 
- Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVectorGetSchemaAttributeNames (bool includeInherited=true)
 

Static Public Attributes

static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdPhysicsJoint
static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdGeomImageable
static const UsdSchemaKind schemaKind = UsdSchemaKind::AbstractTyped
 Compile time constant representing what kind of schema this class is. More...
 
- Static Public Attributes inherited from UsdTyped
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 UsdTyped
USD_API bool _IsCompatible () const override
 Subclasses may override _IsCompatible to do specific compatibility checking with the given prim, such as type compatibility or value compatibility. 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

Predefined prismatic joint type (translation along prismatic joint axis is permitted.)

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 63 of file prismaticJoint.h.

Constructor & Destructor Documentation

◆ UsdPhysicsPrismaticJoint() [1/2]

UsdPhysicsPrismaticJoint ( const UsdPrim prim = UsdPrim())
inlineexplicit

Construct a UsdPhysicsPrismaticJoint on UsdPrim prim .

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

Definition at line 75 of file prismaticJoint.h.

◆ UsdPhysicsPrismaticJoint() [2/2]

UsdPhysicsPrismaticJoint ( const UsdSchemaBase schemaObj)
inlineexplicit

Construct a UsdPhysicsPrismaticJoint on the prim held by schemaObj .

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

Definition at line 83 of file prismaticJoint.h.

◆ ~UsdPhysicsPrismaticJoint()

virtual USDPHYSICS_API ~UsdPhysicsPrismaticJoint ( )
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 UsdPhysicsJoint.

◆ CreateAxisAttr()

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

See GetAxisAttr(), 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.

◆ CreateLowerLimitAttr()

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

See GetLowerLimitAttr(), 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.

◆ CreateUpperLimitAttr()

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

See GetUpperLimitAttr(), 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.

◆ Define()

static USDPHYSICS_API UsdPhysicsPrismaticJoint Define ( const UsdStagePtr &  stage,
const SdfPath path 
)
static

Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.

If a prim adhering to this schema at path is already defined on this stage, return that prim. Otherwise author an SdfPrimSpec with specifier == SdfSpecifierDef and this schema's prim type name for the prim at path at the current EditTarget. Author SdfPrimSpec s with specifier == SdfSpecifierDef and empty typeName at the current EditTarget for any nonexistent, or existing but not Defined ancestors.

The given path must be an absolute prim path that does not contain any variant selections.

If it is impossible to author any of the necessary PrimSpecs, (for example, in case path cannot map to the current UsdEditTarget's namespace) issue an error and return an invalid UsdPrim.

Note that this method may return a defined prim whose typeName does not specify this schema class, in case a stronger typeName opinion overrides the opinion at the current EditTarget.

◆ Get()

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

Return a UsdPhysicsPrismaticJoint 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:

UsdPhysicsPrismaticJoint(stage->GetPrimAtPath(path));

◆ GetAxisAttr()

USDPHYSICS_API UsdAttribute GetAxisAttr ( ) const

Joint axis.

Declaration uniform token physics:axis = "X"
C++ Type TfToken
Usd Type SdfValueTypeNames->Token
Variability SdfVariabilityUniform
Allowed Values X, Y, Z

◆ GetLowerLimitAttr()

USDPHYSICS_API UsdAttribute GetLowerLimitAttr ( ) const

Lower limit.

Units: distance. -inf means not limited in negative direction.

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

◆ 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.

◆ GetUpperLimitAttr()

USDPHYSICS_API UsdAttribute GetUpperLimitAttr ( ) const

Upper limit.

Units: distance. inf means not limited in positive direction.

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

Member Data Documentation

◆ schemaKind

const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped
static

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

See also
UsdSchemaKind

Definition at line 69 of file prismaticJoint.h.


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