UsdPhysicsRigidBodyAPI Class Reference

Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation. More...

+ Inheritance diagram for UsdPhysicsRigidBodyAPI:

Classes

struct  MassInformation
 Mass information for a collision, used in ComputeMassProperties MassInformationFn callback. More...
 

Public Types

typedef MassInformation MassInformationFnSig(const UsdPrim &)
 Mass information function signature, for given UsdPrim gather MassInformation. More...
 
typedef std::function< MassInformationFnSigMassInformationFn
 

Public Member Functions

 UsdPhysicsRigidBodyAPI (const UsdPrim &prim=UsdPrim())
 Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim . More...
 
 UsdPhysicsRigidBodyAPI (const UsdSchemaBase &schemaObj)
 Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj . More...
 
virtual USDPHYSICS_API ~UsdPhysicsRigidBodyAPI ()
 Destructor. More...
 
USDPHYSICS_API UsdAttribute GetRigidBodyEnabledAttr () const
 Determines if this PhysicsRigidBodyAPI is enabled. More...
 
USDPHYSICS_API UsdAttribute CreateRigidBodyEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetRigidBodyEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetKinematicEnabledAttr () const
 Determines whether the body is kinematic or not. More...
 
USDPHYSICS_API UsdAttribute CreateKinematicEnabledAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetKinematicEnabledAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetStartsAsleepAttr () const
 Determines if the body is asleep when the simulation starts. More...
 
USDPHYSICS_API UsdAttribute CreateStartsAsleepAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetStartsAsleepAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetVelocityAttr () const
 Linear velocity in the same space as the node's xform. More...
 
USDPHYSICS_API UsdAttribute CreateVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetVelocityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdAttribute GetAngularVelocityAttr () const
 Angular velocity in the same space as the node's xform. More...
 
USDPHYSICS_API UsdAttribute CreateAngularVelocityAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
 See GetAngularVelocityAttr(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API UsdRelationship GetSimulationOwnerRel () const
 Single PhysicsScene that will simulate this body. More...
 
USDPHYSICS_API UsdRelationship CreateSimulationOwnerRel () const
 See GetSimulationOwnerRel(), and also Create vs Get Property Methods for when to use Get vs Create. More...
 
USDPHYSICS_API float ComputeMassProperties (GfVec3f *diagonalInertia, GfVec3f *com, GfQuatf *principalAxes, const MassInformationFn &massInfoFn) const
 Compute mass properties of the rigid body diagonalInertia Computed diagonal of the inertial tensor for the rigid body. 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 UsdPhysicsRigidBodyAPI Get (const UsdStagePtr &stage, const SdfPath &path)
 Return a UsdPhysicsRigidBodyAPI 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 UsdPhysicsRigidBodyAPI 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

Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation.

If a simulation is running it will update this prim's pose. All prims in the hierarchy below this prim should move accordingly.

Definition at line 63 of file rigidBodyAPI.h.


Class Documentation

◆ UsdPhysicsRigidBodyAPI::MassInformation

struct UsdPhysicsRigidBodyAPI::MassInformation

Mass information for a collision, used in ComputeMassProperties MassInformationFn callback.

Definition at line 317 of file rigidBodyAPI.h.

Class Members
GfVec3f centerOfMass
GfMatrix3f inertia
GfVec3f localPos
GfQuatf localRot
float volume

Member Typedef Documentation

◆ MassInformationFnSig

typedef MassInformation MassInformationFnSig(const UsdPrim &)

Mass information function signature, for given UsdPrim gather MassInformation.

Definition at line 327 of file rigidBodyAPI.h.

Constructor & Destructor Documentation

◆ UsdPhysicsRigidBodyAPI() [1/2]

UsdPhysicsRigidBodyAPI ( const UsdPrim prim = UsdPrim())
inlineexplicit

Construct a UsdPhysicsRigidBodyAPI on UsdPrim prim .

Equivalent to UsdPhysicsRigidBodyAPI::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 rigidBodyAPI.h.

◆ UsdPhysicsRigidBodyAPI() [2/2]

UsdPhysicsRigidBodyAPI ( const UsdSchemaBase schemaObj)
inlineexplicit

Construct a UsdPhysicsRigidBodyAPI on the prim held by schemaObj .

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

Definition at line 83 of file rigidBodyAPI.h.

◆ ~UsdPhysicsRigidBodyAPI()

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

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

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

Returns
A valid UsdPhysicsRigidBodyAPI object is returned upon success. An invalid (or empty) UsdPhysicsRigidBodyAPI 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()

◆ ComputeMassProperties()

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

Compute mass properties of the rigid body diagonalInertia Computed diagonal of the inertial tensor for the rigid body.

com Computed center of mass for the rigid body. principalAxes Inertia tensor's principal axes orienttion for the rigid body. massInfoFn Callback function to get collision mass information.

Returns
Computed mass of the rigid body

◆ CreateAngularVelocityAttr()

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

See GetAngularVelocityAttr(), 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.

◆ CreateKinematicEnabledAttr()

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

See GetKinematicEnabledAttr(), 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.

◆ CreateRigidBodyEnabledAttr()

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

See GetRigidBodyEnabledAttr(), 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.

◆ CreateSimulationOwnerRel()

USDPHYSICS_API UsdRelationship CreateSimulationOwnerRel ( ) const

See GetSimulationOwnerRel(), and also Create vs Get Property Methods for when to use Get vs Create.

◆ CreateStartsAsleepAttr()

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

See GetStartsAsleepAttr(), 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.

◆ CreateVelocityAttr()

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

See GetVelocityAttr(), 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 UsdPhysicsRigidBodyAPI Get ( const UsdStagePtr &  stage,
const SdfPath path 
)
static

Return a UsdPhysicsRigidBodyAPI 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:

UsdPhysicsRigidBodyAPI(stage->GetPrimAtPath(path));

◆ GetAngularVelocityAttr()

USDPHYSICS_API UsdAttribute GetAngularVelocityAttr ( ) const

Angular velocity in the same space as the node's xform.

Units: degrees/second.

Declaration vector3f physics:angularVelocity = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Vector3f

◆ GetKinematicEnabledAttr()

USDPHYSICS_API UsdAttribute GetKinematicEnabledAttr ( ) const

Determines whether the body is kinematic or not.

A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation derives velocities for the kinematic body based on the external motion. When a continuous motion is not desired, this kinematic flag should be set to false.

Declaration bool physics:kinematicEnabled = 0
C++ Type bool
Usd Type SdfValueTypeNames->Bool

◆ GetRigidBodyEnabledAttr()

USDPHYSICS_API UsdAttribute GetRigidBodyEnabledAttr ( ) const

Determines if this PhysicsRigidBodyAPI is enabled.

Declaration bool physics:rigidBodyEnabled = 1
C++ Type bool
Usd Type SdfValueTypeNames->Bool

◆ 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.

◆ GetSimulationOwnerRel()

USDPHYSICS_API UsdRelationship GetSimulationOwnerRel ( ) const

Single PhysicsScene that will simulate this body.

By default this is the first PhysicsScene found in the stage using UsdStage::Traverse().

◆ GetStartsAsleepAttr()

USDPHYSICS_API UsdAttribute GetStartsAsleepAttr ( ) const

Determines if the body is asleep when the simulation starts.

Declaration uniform bool physics:startsAsleep = 0
C++ Type bool
Usd Type SdfValueTypeNames->Bool
Variability SdfVariabilityUniform

◆ GetVelocityAttr()

USDPHYSICS_API UsdAttribute GetVelocityAttr ( ) const

Linear velocity in the same space as the node's xform.

Units: distance/second.

Declaration vector3f physics:velocity = (0, 0, 0)
C++ Type GfVec3f
Usd Type SdfValueTypeNames->Vector3f

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 69 of file rigidBodyAPI.h.


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