| UsdPhysics module — pxr-usd-api 105.1 documentation | |
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| UsdPhysics module | |
| # UsdPhysics module | |
| Summary: The UsdPhysics module defines the physics-related prim and property schemas that together form a physics simulation representation. | |
| Classes: | |
| ArticulationRootAPI | |
| PhysicsArticulationRootAPI can be applied to a scene graph node, and marks the subtree rooted here for inclusion in one or more reduced coordinate articulations. | |
| CollisionAPI | |
| Applies collision attributes to a UsdGeomXformable prim. | |
| CollisionGroup | |
| Defines a collision group for coarse filtering. | |
| CollisionGroupTable | |
| DistanceJoint | |
| Predefined distance joint type (Distance between rigid bodies may be limited to given minimum or maximum distance.) | |
| DriveAPI | |
| The PhysicsDriveAPI when applied to any joint primitive will drive the joint towards a given target. | |
| FilteredPairsAPI | |
| API to describe fine-grained filtering. | |
| FixedJoint | |
| Predefined fixed joint type (All degrees of freedom are removed.) | |
| Joint | |
| A joint constrains the movement of rigid bodies. | |
| LimitAPI | |
| The PhysicsLimitAPI can be applied to a PhysicsJoint and will restrict the movement along an axis. | |
| MassAPI | |
| Defines explicit mass properties (mass, density, inertia etc.). | |
| MassUnits | |
| Container class for static double-precision symbols representing common mass units of measure expressed in kilograms. | |
| MaterialAPI | |
| Adds simulation material properties to a Material. | |
| MeshCollisionAPI | |
| Attributes to control how a Mesh is made into a collider. | |
| PrismaticJoint | |
| Predefined prismatic joint type (translation along prismatic joint axis is permitted.) | |
| RevoluteJoint | |
| Predefined revolute joint type (rotation along revolute joint axis is permitted.) | |
| RigidBodyAPI | |
| Applies physics body attributes to any UsdGeomXformable prim and marks that prim to be driven by a simulation. | |
| Scene | |
| General physics simulation properties, required for simulation. | |
| SphericalJoint | |
| Predefined spherical joint type (Removes linear degrees of freedom, cone limit may restrict the motion in a given range.) It allows two limit values, which when equal create a circular, else an elliptic cone limit around the limit axis. | |
| Tokens | |
| class pxr.UsdPhysics.ArticulationRootAPI | |
| PhysicsArticulationRootAPI can be applied to a scene graph node, and | |
| marks the subtree rooted here for inclusion in one or more reduced | |
| coordinate articulations. For floating articulations, this should be | |
| on the root body. For fixed articulations (robotics jargon for e.g. a | |
| robot arm for welding that is bolted to the floor), this API can be on | |
| a direct or indirect parent of the root joint which is connected to | |
| the world, or on the joint itself.. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> ArticulationRootAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| Get | |
| classmethod Get(stage, path) -> ArticulationRootAPI | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| static Apply() | |
| classmethod Apply(prim) -> ArticulationRootAPI | |
| Applies this single-apply API schema to the given prim . | |
| This information is stored by adding”PhysicsArticulationRootAPI”to the | |
| token-valued, listOp metadata apiSchemas on the prim. | |
| A valid UsdPhysicsArticulationRootAPI object is returned upon success. | |
| An invalid (or empty) UsdPhysicsArticulationRootAPI object is returned | |
| upon failure. See UsdPrim::ApplyAPI() for conditions resulting in | |
| failure. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| static Get() | |
| classmethod Get(stage, path) -> ArticulationRootAPI | |
| Return a UsdPhysicsArticulationRootAPI 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: | |
| UsdPhysicsArticulationRootAPI(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.CollisionAPI | |
| Applies collision attributes to a UsdGeomXformable prim. If a | |
| simulation is running, this geometry will collide with other | |
| geometries that have PhysicsCollisionAPI applied. If a prim in the | |
| parent hierarchy has the RigidBodyAPI applied, this collider is a part | |
| of that body. If there is no body in the parent hierarchy, this | |
| collider is considered to be static. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> CollisionAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| CreateCollisionEnabledAttr(defaultValue, ...) | |
| See GetCollisionEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateSimulationOwnerRel() | |
| See GetSimulationOwnerRel() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> CollisionAPI | |
| GetCollisionEnabledAttr() | |
| Determines if the PhysicsCollisionAPI is enabled. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| GetSimulationOwnerRel() | |
| Single PhysicsScene that will simulate this collider. | |
| static Apply() | |
| classmethod Apply(prim) -> CollisionAPI | |
| Applies this single-apply API schema to the given prim . | |
| This information is stored by adding”PhysicsCollisionAPI”to the token- | |
| valued, listOp metadata apiSchemas on the prim. | |
| A valid UsdPhysicsCollisionAPI object is returned upon success. An | |
| invalid (or empty) UsdPhysicsCollisionAPI object is returned upon | |
| failure. See UsdPrim::ApplyAPI() for conditions resulting in failure. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| CreateCollisionEnabledAttr(defaultValue, writeSparsely) → Attribute | |
| See GetCollisionEnabledAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateSimulationOwnerRel() → Relationship | |
| See GetSimulationOwnerRel() , and also Create vs Get Property Methods | |
| for when to use Get vs Create. | |
| static Get() | |
| classmethod Get(stage, path) -> CollisionAPI | |
| Return a UsdPhysicsCollisionAPI 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: | |
| UsdPhysicsCollisionAPI(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetCollisionEnabledAttr() → Attribute | |
| Determines if the PhysicsCollisionAPI is enabled. | |
| Declaration | |
| bool physics:collisionEnabled = 1 | |
| C++ Type | |
| bool | |
| Usd Type | |
| SdfValueTypeNames->Bool | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetSimulationOwnerRel() → Relationship | |
| Single PhysicsScene that will simulate this collider. | |
| By default this object belongs to the first PhysicsScene. Note that if | |
| a RigidBodyAPI in the hierarchy above has a different simulationOwner | |
| then it has a precedence over this relationship. | |
| class pxr.UsdPhysics.CollisionGroup | |
| Defines a collision group for coarse filtering. When a collision | |
| occurs between two objects that have a PhysicsCollisionGroup assigned, | |
| they will collide with each other unless this PhysicsCollisionGroup | |
| pair is filtered. See filteredGroups attribute. | |
| A CollectionAPI:colliders maintains a list of PhysicsCollisionAPI | |
| rel-s that defines the members of this Collisiongroup. | |
| Methods: | |
| ComputeCollisionGroupTable | |
| classmethod ComputeCollisionGroupTable(stage) -> CollisionGroupTable | |
| CreateFilteredGroupsRel() | |
| See GetFilteredGroupsRel() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateInvertFilteredGroupsAttr(defaultValue, ...) | |
| See GetInvertFilteredGroupsAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateMergeGroupNameAttr(defaultValue, ...) | |
| See GetMergeGroupNameAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> CollisionGroup | |
| Get | |
| classmethod Get(stage, path) -> CollisionGroup | |
| GetCollidersCollectionAPI() | |
| Return the UsdCollectionAPI interface used for defining what colliders belong to the CollisionGroup. | |
| GetFilteredGroupsRel() | |
| References a list of PhysicsCollisionGroups with which collisions should be ignored. | |
| GetInvertFilteredGroupsAttr() | |
| Normally, the filter will disable collisions against the selected filter groups. | |
| GetMergeGroupNameAttr() | |
| If non-empty, any collision groups in a stage with a matching mergeGroup should be considered to refer to the same collection. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| static ComputeCollisionGroupTable() | |
| classmethod ComputeCollisionGroupTable(stage) -> CollisionGroupTable | |
| Compute a table encoding all the collision groups filter rules for a | |
| stage. | |
| This can be used as a reference to validate an implementation of the | |
| collision groups filters. The returned table is diagonally symmetric. | |
| Parameters | |
| stage (Stage) – | |
| CreateFilteredGroupsRel() → Relationship | |
| See GetFilteredGroupsRel() , and also Create vs Get Property Methods | |
| for when to use Get vs Create. | |
| CreateInvertFilteredGroupsAttr(defaultValue, writeSparsely) → Attribute | |
| See GetInvertFilteredGroupsAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateMergeGroupNameAttr(defaultValue, writeSparsely) → Attribute | |
| See GetMergeGroupNameAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> CollisionGroup | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> CollisionGroup | |
| Return a UsdPhysicsCollisionGroup 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: | |
| UsdPhysicsCollisionGroup(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetCollidersCollectionAPI() → CollectionAPI | |
| Return the UsdCollectionAPI interface used for defining what colliders | |
| belong to the CollisionGroup. | |
| GetFilteredGroupsRel() → Relationship | |
| References a list of PhysicsCollisionGroups with which collisions | |
| should be ignored. | |
| GetInvertFilteredGroupsAttr() → Attribute | |
| Normally, the filter will disable collisions against the selected | |
| filter groups. | |
| However, if this option is set, the filter will disable collisions | |
| against all colliders except for those in the selected filter groups. | |
| Declaration | |
| bool physics:invertFilteredGroups | |
| C++ Type | |
| bool | |
| Usd Type | |
| SdfValueTypeNames->Bool | |
| GetMergeGroupNameAttr() → Attribute | |
| If non-empty, any collision groups in a stage with a matching | |
| mergeGroup should be considered to refer to the same collection. | |
| Matching collision groups should behave as if there were a single | |
| group containing referenced colliders and filter groups from both | |
| collections. | |
| Declaration | |
| string physics:mergeGroup | |
| C++ Type | |
| std::string | |
| Usd Type | |
| SdfValueTypeNames->String | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.CollisionGroupTable | |
| Methods: | |
| GetGroups | |
| IsCollisionEnabled | |
| GetGroups() | |
| IsCollisionEnabled() | |
| class pxr.UsdPhysics.DistanceJoint | |
| Predefined distance joint type (Distance between rigid bodies may be | |
| limited to given minimum or maximum distance.) | |
| Methods: | |
| CreateMaxDistanceAttr(defaultValue, ...) | |
| See GetMaxDistanceAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateMinDistanceAttr(defaultValue, ...) | |
| See GetMinDistanceAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> DistanceJoint | |
| Get | |
| classmethod Get(stage, path) -> DistanceJoint | |
| GetMaxDistanceAttr() | |
| Maximum distance. | |
| GetMinDistanceAttr() | |
| Minimum distance. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| CreateMaxDistanceAttr(defaultValue, writeSparsely) → Attribute | |
| See GetMaxDistanceAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateMinDistanceAttr(defaultValue, writeSparsely) → Attribute | |
| See GetMinDistanceAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> DistanceJoint | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> DistanceJoint | |
| Return a UsdPhysicsDistanceJoint 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: | |
| UsdPhysicsDistanceJoint(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetMaxDistanceAttr() → Attribute | |
| Maximum distance. | |
| If attribute is negative, the joint is not limited. Units: distance. | |
| Declaration | |
| float physics:maxDistance = -1 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetMinDistanceAttr() → Attribute | |
| Minimum distance. | |
| If attribute is negative, the joint is not limited. Units: distance. | |
| Declaration | |
| float physics:minDistance = -1 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.DriveAPI | |
| 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. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim, name) -> DriveAPI | |
| CanApply | |
| classmethod CanApply(prim, name, whyNot) -> bool | |
| CreateDampingAttr(defaultValue, writeSparsely) | |
| See GetDampingAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateMaxForceAttr(defaultValue, writeSparsely) | |
| See GetMaxForceAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateStiffnessAttr(defaultValue, writeSparsely) | |
| See GetStiffnessAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateTargetPositionAttr(defaultValue, ...) | |
| See GetTargetPositionAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateTargetVelocityAttr(defaultValue, ...) | |
| See GetTargetVelocityAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateTypeAttr(defaultValue, writeSparsely) | |
| See GetTypeAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> DriveAPI | |
| GetAll | |
| classmethod GetAll(prim) -> list[DriveAPI] | |
| GetDampingAttr() | |
| Damping of the drive. | |
| GetMaxForceAttr() | |
| Maximum force that can be applied to drive. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| GetStiffnessAttr() | |
| Stiffness of the drive. | |
| GetTargetPositionAttr() | |
| Target value for position. | |
| GetTargetVelocityAttr() | |
| Target value for velocity. | |
| GetTypeAttr() | |
| Drive spring is for the acceleration at the joint (rather than the force). | |
| IsPhysicsDriveAPIPath | |
| classmethod IsPhysicsDriveAPIPath(path, name) -> bool | |
| static Apply() | |
| classmethod Apply(prim, name) -> DriveAPI | |
| 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’. | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| name (str) – | |
| static CanApply() | |
| classmethod CanApply(prim, name, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| name (str) – | |
| whyNot (str) – | |
| CreateDampingAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateMaxForceAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateStiffnessAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateTargetPositionAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateTargetVelocityAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateTypeAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Get() | |
| classmethod Get(stage, path) -> DriveAPI | |
| 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()); | |
| UsdPhysicsDriveAPI( | |
| stage->GetPrimAtPath(path.GetPrimPath()), name); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| Get(prim, name) -> DriveAPI | |
| Return a UsdPhysicsDriveAPI with name name holding the prim | |
| prim . | |
| Shorthand for UsdPhysicsDriveAPI(prim, name); | |
| Parameters | |
| prim (Prim) – | |
| name (str) – | |
| static GetAll() | |
| classmethod GetAll(prim) -> list[DriveAPI] | |
| Return a vector of all named instances of UsdPhysicsDriveAPI on the | |
| given prim . | |
| Parameters | |
| prim (Prim) – | |
| GetDampingAttr() → Attribute | |
| 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() → Attribute | |
| 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 | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetSchemaAttributeNames(includeInherited, instanceName) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| instanceName (str) – | |
| GetStiffnessAttr() → Attribute | |
| 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() → Attribute | |
| 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() → Attribute | |
| 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() → Attribute | |
| 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 | |
| static IsPhysicsDriveAPIPath() | |
| classmethod IsPhysicsDriveAPIPath(path, name) -> bool | |
| 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. | |
| Parameters | |
| path (Path) – | |
| name (str) – | |
| class pxr.UsdPhysics.FilteredPairsAPI | |
| API to describe fine-grained filtering. If a collision between two | |
| objects occurs, this pair might be filtered if the pair is defined | |
| through this API. This API can be applied either to a body or | |
| collision or even articulation. The”filteredPairs”defines what objects | |
| it should not collide against. Note that FilteredPairsAPI filtering | |
| has precedence over CollisionGroup filtering. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> FilteredPairsAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| CreateFilteredPairsRel() | |
| See GetFilteredPairsRel() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> FilteredPairsAPI | |
| GetFilteredPairsRel() | |
| Relationship to objects that should be filtered. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| static Apply() | |
| classmethod Apply(prim) -> FilteredPairsAPI | |
| Applies this single-apply API schema to the given prim . | |
| This information is stored by adding”PhysicsFilteredPairsAPI”to the | |
| token-valued, listOp metadata apiSchemas on the prim. | |
| A valid UsdPhysicsFilteredPairsAPI object is returned upon success. An | |
| invalid (or empty) UsdPhysicsFilteredPairsAPI object is returned upon | |
| failure. See UsdPrim::ApplyAPI() for conditions resulting in failure. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| CreateFilteredPairsRel() → Relationship | |
| See GetFilteredPairsRel() , and also Create vs Get Property Methods | |
| for when to use Get vs Create. | |
| static Get() | |
| classmethod Get(stage, path) -> FilteredPairsAPI | |
| Return a UsdPhysicsFilteredPairsAPI 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: | |
| UsdPhysicsFilteredPairsAPI(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetFilteredPairsRel() → Relationship | |
| Relationship to objects that should be filtered. | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.FixedJoint | |
| Predefined fixed joint type (All degrees of freedom are removed.) | |
| Methods: | |
| Define | |
| classmethod Define(stage, path) -> FixedJoint | |
| Get | |
| classmethod Get(stage, path) -> FixedJoint | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| static Define() | |
| classmethod Define(stage, path) -> FixedJoint | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> FixedJoint | |
| Return a UsdPhysicsFixedJoint 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: | |
| UsdPhysicsFixedJoint(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.Joint | |
| A joint constrains the movement of rigid bodies. Joint can be created | |
| between two rigid bodies or between one rigid body and world. By | |
| default joint primitive defines a D6 joint where all degrees of | |
| freedom are free. Three linear and three angular degrees of freedom. | |
| Note that default behavior is to disable collision between jointed | |
| bodies. | |
| Methods: | |
| CreateBody0Rel() | |
| See GetBody0Rel() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateBody1Rel() | |
| See GetBody1Rel() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateBreakForceAttr(defaultValue, writeSparsely) | |
| See GetBreakForceAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateBreakTorqueAttr(defaultValue, ...) | |
| See GetBreakTorqueAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateCollisionEnabledAttr(defaultValue, ...) | |
| See GetCollisionEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateExcludeFromArticulationAttr(...) | |
| See GetExcludeFromArticulationAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateJointEnabledAttr(defaultValue, ...) | |
| See GetJointEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLocalPos0Attr(defaultValue, writeSparsely) | |
| See GetLocalPos0Attr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLocalPos1Attr(defaultValue, writeSparsely) | |
| See GetLocalPos1Attr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLocalRot0Attr(defaultValue, writeSparsely) | |
| See GetLocalRot0Attr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLocalRot1Attr(defaultValue, writeSparsely) | |
| See GetLocalRot1Attr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> Joint | |
| Get | |
| classmethod Get(stage, path) -> Joint | |
| GetBody0Rel() | |
| Relationship to any UsdGeomXformable. | |
| GetBody1Rel() | |
| Relationship to any UsdGeomXformable. | |
| GetBreakForceAttr() | |
| Joint break force. | |
| GetBreakTorqueAttr() | |
| Joint break torque. | |
| GetCollisionEnabledAttr() | |
| Determines if the jointed subtrees should collide or not. | |
| GetExcludeFromArticulationAttr() | |
| Determines if the joint can be included in an Articulation. | |
| GetJointEnabledAttr() | |
| Determines if the joint is enabled. | |
| GetLocalPos0Attr() | |
| Relative position of the joint frame to body0's frame. | |
| GetLocalPos1Attr() | |
| Relative position of the joint frame to body1's frame. | |
| GetLocalRot0Attr() | |
| Relative orientation of the joint frame to body0's frame. | |
| GetLocalRot1Attr() | |
| Relative orientation of the joint frame to body1's frame. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| CreateBody0Rel() → Relationship | |
| See GetBody0Rel() , and also Create vs Get Property Methods for when | |
| to use Get vs Create. | |
| CreateBody1Rel() → Relationship | |
| See GetBody1Rel() , and also Create vs Get Property Methods for when | |
| to use Get vs Create. | |
| CreateBreakForceAttr(defaultValue, writeSparsely) → Attribute | |
| See GetBreakForceAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateBreakTorqueAttr(defaultValue, writeSparsely) → Attribute | |
| See GetBreakTorqueAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateCollisionEnabledAttr(defaultValue, writeSparsely) → Attribute | |
| See GetCollisionEnabledAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateExcludeFromArticulationAttr(defaultValue, writeSparsely) → Attribute | |
| See GetExcludeFromArticulationAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateJointEnabledAttr(defaultValue, writeSparsely) → Attribute | |
| See GetJointEnabledAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLocalPos0Attr(defaultValue, writeSparsely) → Attribute | |
| See GetLocalPos0Attr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLocalPos1Attr(defaultValue, writeSparsely) → Attribute | |
| See GetLocalPos1Attr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLocalRot0Attr(defaultValue, writeSparsely) → Attribute | |
| See GetLocalRot0Attr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLocalRot1Attr(defaultValue, writeSparsely) → Attribute | |
| See GetLocalRot1Attr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> Joint | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> Joint | |
| Return a UsdPhysicsJoint 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: | |
| UsdPhysicsJoint(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetBody0Rel() → Relationship | |
| Relationship to any UsdGeomXformable. | |
| GetBody1Rel() → Relationship | |
| Relationship to any UsdGeomXformable. | |
| GetBreakForceAttr() → Attribute | |
| Joint break force. | |
| If set, joint is to break when this force limit is reached. (Used for | |
| linear DOFs.) Units: mass * distance / second / second | |
| Declaration | |
| float physics:breakForce = inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetBreakTorqueAttr() → Attribute | |
| Joint break torque. | |
| If set, joint is to break when this torque limit is reached. (Used for | |
| angular DOFs.) Units: mass * distance * distance / second / second | |
| Declaration | |
| float physics:breakTorque = inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetCollisionEnabledAttr() → Attribute | |
| Determines if the jointed subtrees should collide or not. | |
| Declaration | |
| bool physics:collisionEnabled = 0 | |
| C++ Type | |
| bool | |
| Usd Type | |
| SdfValueTypeNames->Bool | |
| GetExcludeFromArticulationAttr() → Attribute | |
| Determines if the joint can be included in an Articulation. | |
| Declaration | |
| uniform bool physics:excludeFromArticulation = 0 | |
| C++ Type | |
| bool | |
| Usd Type | |
| SdfValueTypeNames->Bool | |
| Variability | |
| SdfVariabilityUniform | |
| GetJointEnabledAttr() → Attribute | |
| Determines if the joint is enabled. | |
| Declaration | |
| bool physics:jointEnabled = 1 | |
| C++ Type | |
| bool | |
| Usd Type | |
| SdfValueTypeNames->Bool | |
| GetLocalPos0Attr() → Attribute | |
| Relative position of the joint frame to body0’s frame. | |
| Declaration | |
| point3f physics:localPos0 = (0, 0, 0) | |
| C++ Type | |
| GfVec3f | |
| Usd Type | |
| SdfValueTypeNames->Point3f | |
| GetLocalPos1Attr() → Attribute | |
| Relative position of the joint frame to body1’s frame. | |
| Declaration | |
| point3f physics:localPos1 = (0, 0, 0) | |
| C++ Type | |
| GfVec3f | |
| Usd Type | |
| SdfValueTypeNames->Point3f | |
| GetLocalRot0Attr() → Attribute | |
| Relative orientation of the joint frame to body0’s frame. | |
| Declaration | |
| quatf physics:localRot0 = (1, 0, 0, 0) | |
| C++ Type | |
| GfQuatf | |
| Usd Type | |
| SdfValueTypeNames->Quatf | |
| GetLocalRot1Attr() → Attribute | |
| Relative orientation of the joint frame to body1’s frame. | |
| Declaration | |
| quatf physics:localRot1 = (1, 0, 0, 0) | |
| C++ Type | |
| GfQuatf | |
| Usd Type | |
| SdfValueTypeNames->Quatf | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.LimitAPI | |
| The PhysicsLimitAPI can be applied to a PhysicsJoint and will restrict | |
| the movement along an axis. PhysicsLimitAPI is a multipleApply schema: | |
| The PhysicsJoint can be restricted | |
| along”transX”,”transY”,”transZ”,”rotX”,”rotY”,”rotZ”,”distance”. | |
| Setting these as a multipleApply schema TfToken name will define the | |
| degree of freedom the PhysicsLimitAPI is applied to. Note that if the | |
| low limit is higher than the high limit, motion along this axis is | |
| considered locked. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim, name) -> LimitAPI | |
| CanApply | |
| classmethod CanApply(prim, name, whyNot) -> bool | |
| CreateHighAttr(defaultValue, writeSparsely) | |
| See GetHighAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLowAttr(defaultValue, writeSparsely) | |
| See GetLowAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> LimitAPI | |
| GetAll | |
| classmethod GetAll(prim) -> list[LimitAPI] | |
| GetHighAttr() | |
| Upper limit. | |
| GetLowAttr() | |
| Lower limit. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| IsPhysicsLimitAPIPath | |
| classmethod IsPhysicsLimitAPIPath(path, name) -> bool | |
| static Apply() | |
| classmethod Apply(prim, name) -> LimitAPI | |
| Applies this multiple-apply API schema to the given prim along | |
| with the given instance name, name . | |
| This information is stored by adding”PhysicsLimitAPI:<i>name</i>”to | |
| the token-valued, listOp metadata apiSchemas on the prim. For | |
| example, if name is’instance1’, the | |
| token’PhysicsLimitAPI:instance1’is added to’apiSchemas’. | |
| A valid UsdPhysicsLimitAPI object is returned upon success. An invalid | |
| (or empty) UsdPhysicsLimitAPI object is returned upon failure. See | |
| UsdPrim::ApplyAPI() for conditions resulting in failure. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| name (str) – | |
| static CanApply() | |
| classmethod CanApply(prim, name, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| name (str) – | |
| whyNot (str) – | |
| CreateHighAttr(defaultValue, writeSparsely) → Attribute | |
| See GetHighAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLowAttr(defaultValue, writeSparsely) → Attribute | |
| See GetLowAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Get() | |
| classmethod Get(stage, path) -> LimitAPI | |
| Return a UsdPhysicsLimitAPI 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>.limit:name. | |
| This is shorthand for the following: | |
| TfToken name = SdfPath::StripNamespace(path.GetToken()); | |
| UsdPhysicsLimitAPI( | |
| stage->GetPrimAtPath(path.GetPrimPath()), name); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| Get(prim, name) -> LimitAPI | |
| Return a UsdPhysicsLimitAPI with name name holding the prim | |
| prim . | |
| Shorthand for UsdPhysicsLimitAPI(prim, name); | |
| Parameters | |
| prim (Prim) – | |
| name (str) – | |
| static GetAll() | |
| classmethod GetAll(prim) -> list[LimitAPI] | |
| Return a vector of all named instances of UsdPhysicsLimitAPI on the | |
| given prim . | |
| Parameters | |
| prim (Prim) – | |
| GetHighAttr() → Attribute | |
| Upper limit. | |
| Units: degrees or distance depending on trans or rot axis applied to. | |
| inf means not limited in positive direction. | |
| Declaration | |
| float physics:high = inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetLowAttr() → Attribute | |
| Lower limit. | |
| Units: degrees or distance depending on trans or rot axis applied to. | |
| -inf means not limited in negative direction. | |
| Declaration | |
| float physics:low = -inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetSchemaAttributeNames(includeInherited, instanceName) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| instanceName (str) – | |
| static IsPhysicsLimitAPIPath() | |
| classmethod IsPhysicsLimitAPIPath(path, name) -> bool | |
| Checks if the given path path is of an API schema of type | |
| PhysicsLimitAPI. | |
| If so, it stores the instance name of the schema in name and | |
| returns true. Otherwise, it returns false. | |
| Parameters | |
| path (Path) – | |
| name (str) – | |
| class pxr.UsdPhysics.MassAPI | |
| Defines explicit mass properties (mass, density, inertia etc.). | |
| MassAPI can be applied to any object that has a PhysicsCollisionAPI or | |
| a PhysicsRigidBodyAPI. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> MassAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| CreateCenterOfMassAttr(defaultValue, ...) | |
| See GetCenterOfMassAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateDensityAttr(defaultValue, writeSparsely) | |
| See GetDensityAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateDiagonalInertiaAttr(defaultValue, ...) | |
| See GetDiagonalInertiaAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateMassAttr(defaultValue, writeSparsely) | |
| See GetMassAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreatePrincipalAxesAttr(defaultValue, ...) | |
| See GetPrincipalAxesAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> MassAPI | |
| GetCenterOfMassAttr() | |
| Center of mass in the prim's local space. | |
| GetDensityAttr() | |
| If non-zero, specifies the density of the object. | |
| GetDiagonalInertiaAttr() | |
| If non-zero, specifies diagonalized inertia tensor along the principal axes. | |
| GetMassAttr() | |
| If non-zero, directly specifies the mass of the object. | |
| GetPrincipalAxesAttr() | |
| Orientation of the inertia tensor's principal axes in the prim's local space. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| static Apply() | |
| classmethod Apply(prim) -> MassAPI | |
| 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. | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| CreateCenterOfMassAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateDensityAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateDiagonalInertiaAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateMassAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreatePrincipalAxesAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Get() | |
| classmethod Get(stage, path) -> MassAPI | |
| 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)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetCenterOfMassAttr() → Attribute | |
| 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() → Attribute | |
| 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() → Attribute | |
| 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() → Attribute | |
| 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() → Attribute | |
| 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 | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.MassUnits | |
| Container class for static double-precision symbols representing | |
| common mass units of measure expressed in kilograms. | |
| Attributes: | |
| grams | |
| kilograms | |
| slugs | |
| grams = 0.001 | |
| kilograms = 1.0 | |
| slugs = 14.5939 | |
| class pxr.UsdPhysics.MaterialAPI | |
| Adds simulation material properties to a Material. All collisions that | |
| have a relationship to this material will have their collision | |
| response defined through this material. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> MaterialAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| CreateDensityAttr(defaultValue, writeSparsely) | |
| See GetDensityAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateDynamicFrictionAttr(defaultValue, ...) | |
| See GetDynamicFrictionAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateRestitutionAttr(defaultValue, ...) | |
| See GetRestitutionAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateStaticFrictionAttr(defaultValue, ...) | |
| See GetStaticFrictionAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> MaterialAPI | |
| GetDensityAttr() | |
| If non-zero, defines the density of the material. | |
| GetDynamicFrictionAttr() | |
| Dynamic friction coefficient. | |
| GetRestitutionAttr() | |
| Restitution coefficient. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| GetStaticFrictionAttr() | |
| Static friction coefficient. | |
| static Apply() | |
| classmethod Apply(prim) -> MaterialAPI | |
| Applies this single-apply API schema to the given prim . | |
| This information is stored by adding”PhysicsMaterialAPI”to the token- | |
| valued, listOp metadata apiSchemas on the prim. | |
| A valid UsdPhysicsMaterialAPI object is returned upon success. An | |
| invalid (or empty) UsdPhysicsMaterialAPI object is returned upon | |
| failure. See UsdPrim::ApplyAPI() for conditions resulting in failure. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| CreateDensityAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateDynamicFrictionAttr(defaultValue, writeSparsely) → Attribute | |
| See GetDynamicFrictionAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateRestitutionAttr(defaultValue, writeSparsely) → Attribute | |
| See GetRestitutionAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateStaticFrictionAttr(defaultValue, writeSparsely) → Attribute | |
| See GetStaticFrictionAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Get() | |
| classmethod Get(stage, path) -> MaterialAPI | |
| Return a UsdPhysicsMaterialAPI 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: | |
| UsdPhysicsMaterialAPI(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetDensityAttr() → Attribute | |
| If non-zero, defines the density of the material. | |
| This can be used for body mass computation, see PhysicsMassAPI. Note | |
| that if the density is 0.0 it is ignored. Units: | |
| mass/distance/distance/distance. | |
| Declaration | |
| float physics:density = 0 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetDynamicFrictionAttr() → Attribute | |
| Dynamic friction coefficient. | |
| Unitless. | |
| Declaration | |
| float physics:dynamicFriction = 0 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetRestitutionAttr() → Attribute | |
| Restitution coefficient. | |
| Unitless. | |
| Declaration | |
| float physics:restitution = 0 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetStaticFrictionAttr() → Attribute | |
| Static friction coefficient. | |
| Unitless. | |
| Declaration | |
| float physics:staticFriction = 0 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| class pxr.UsdPhysics.MeshCollisionAPI | |
| Attributes to control how a Mesh is made into a collider. Can be | |
| applied to only a USDGeomMesh in addition to its PhysicsCollisionAPI. | |
| 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. | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> MeshCollisionAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| CreateApproximationAttr(defaultValue, ...) | |
| See GetApproximationAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> MeshCollisionAPI | |
| GetApproximationAttr() | |
| Determines the mesh's collision approximation:"none"- The mesh geometry is used directly as a collider without any approximation. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| static Apply() | |
| classmethod Apply(prim) -> MeshCollisionAPI | |
| Applies this single-apply API schema to the given prim . | |
| This information is stored by adding”PhysicsMeshCollisionAPI”to the | |
| token-valued, listOp metadata apiSchemas on the prim. | |
| A valid UsdPhysicsMeshCollisionAPI object is returned upon success. An | |
| invalid (or empty) UsdPhysicsMeshCollisionAPI object is returned upon | |
| failure. See UsdPrim::ApplyAPI() for conditions resulting in failure. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| CreateApproximationAttr(defaultValue, writeSparsely) → Attribute | |
| See GetApproximationAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Get() | |
| classmethod Get(stage, path) -> MeshCollisionAPI | |
| Return a UsdPhysicsMeshCollisionAPI 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: | |
| UsdPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetApproximationAttr() → Attribute | |
| Determines the mesh’s collision approximation:”none”- The mesh | |
| geometry is used directly as a collider without any approximation. | |
| “convexDecomposition”- A convex mesh decomposition is performed. This | |
| results in a set of convex mesh colliders.”convexHull”- A convex hull | |
| of the mesh is generated and used as the collider.”boundingSphere”- A | |
| bounding sphere is computed around the mesh and used as a | |
| collider.”boundingCube”- An optimally fitting box collider is computed | |
| around the mesh.”meshSimplification”- A mesh simplification step is | |
| performed, resulting in a simplified triangle mesh collider. | |
| Declaration | |
| uniform token physics:approximation ="none" | |
| C++ Type | |
| TfToken | |
| Usd Type | |
| SdfValueTypeNames->Token | |
| Variability | |
| SdfVariabilityUniform | |
| Allowed Values | |
| none, convexDecomposition, convexHull, boundingSphere, boundingCube, | |
| meshSimplification | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.PrismaticJoint | |
| 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. | |
| Methods: | |
| CreateAxisAttr(defaultValue, writeSparsely) | |
| See GetAxisAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLowerLimitAttr(defaultValue, writeSparsely) | |
| See GetLowerLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateUpperLimitAttr(defaultValue, writeSparsely) | |
| See GetUpperLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> PrismaticJoint | |
| Get | |
| classmethod Get(stage, path) -> PrismaticJoint | |
| GetAxisAttr() | |
| Joint axis. | |
| GetLowerLimitAttr() | |
| Lower limit. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| GetUpperLimitAttr() | |
| Upper limit. | |
| CreateAxisAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLowerLimitAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateUpperLimitAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> PrismaticJoint | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> PrismaticJoint | |
| 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)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetAxisAttr() → Attribute | |
| Joint axis. | |
| Declaration | |
| uniform token physics:axis ="X" | |
| C++ Type | |
| TfToken | |
| Usd Type | |
| SdfValueTypeNames->Token | |
| Variability | |
| SdfVariabilityUniform | |
| Allowed Values | |
| X, Y, Z | |
| GetLowerLimitAttr() → Attribute | |
| Lower limit. | |
| Units: distance. -inf means not limited in negative direction. | |
| Declaration | |
| float physics:lowerLimit = -inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetUpperLimitAttr() → Attribute | |
| Upper limit. | |
| Units: distance. inf means not limited in positive direction. | |
| Declaration | |
| float physics:upperLimit = inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| class pxr.UsdPhysics.RevoluteJoint | |
| Predefined revolute joint type (rotation along revolute 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. | |
| Methods: | |
| CreateAxisAttr(defaultValue, writeSparsely) | |
| See GetAxisAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateLowerLimitAttr(defaultValue, writeSparsely) | |
| See GetLowerLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateUpperLimitAttr(defaultValue, writeSparsely) | |
| See GetUpperLimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> RevoluteJoint | |
| Get | |
| classmethod Get(stage, path) -> RevoluteJoint | |
| GetAxisAttr() | |
| Joint axis. | |
| GetLowerLimitAttr() | |
| Lower limit. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| GetUpperLimitAttr() | |
| Upper limit. | |
| CreateAxisAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateLowerLimitAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateUpperLimitAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> RevoluteJoint | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> RevoluteJoint | |
| Return a UsdPhysicsRevoluteJoint 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: | |
| UsdPhysicsRevoluteJoint(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetAxisAttr() → Attribute | |
| Joint axis. | |
| Declaration | |
| uniform token physics:axis ="X" | |
| C++ Type | |
| TfToken | |
| Usd Type | |
| SdfValueTypeNames->Token | |
| Variability | |
| SdfVariabilityUniform | |
| Allowed Values | |
| X, Y, Z | |
| GetLowerLimitAttr() → Attribute | |
| Lower limit. | |
| Units: degrees. -inf means not limited in negative direction. | |
| Declaration | |
| float physics:lowerLimit = -inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetUpperLimitAttr() → Attribute | |
| Upper limit. | |
| Units: degrees. inf means not limited in positive direction. | |
| Declaration | |
| float physics:upperLimit = inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| class pxr.UsdPhysics.RigidBodyAPI | |
| 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. | |
| Classes: | |
| MassInformation | |
| Methods: | |
| Apply | |
| classmethod Apply(prim) -> RigidBodyAPI | |
| CanApply | |
| classmethod CanApply(prim, whyNot) -> bool | |
| ComputeMassProperties(diagonalInertia, com, ...) | |
| Compute mass properties of the rigid body diagonalInertia Computed diagonal of the inertial tensor for the rigid body. | |
| CreateAngularVelocityAttr(defaultValue, ...) | |
| See GetAngularVelocityAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateKinematicEnabledAttr(defaultValue, ...) | |
| See GetKinematicEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateRigidBodyEnabledAttr(defaultValue, ...) | |
| See GetRigidBodyEnabledAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateSimulationOwnerRel() | |
| See GetSimulationOwnerRel() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateStartsAsleepAttr(defaultValue, ...) | |
| See GetStartsAsleepAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateVelocityAttr(defaultValue, writeSparsely) | |
| See GetVelocityAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Get | |
| classmethod Get(stage, path) -> RigidBodyAPI | |
| GetAngularVelocityAttr() | |
| Angular velocity in the same space as the node's xform. | |
| GetKinematicEnabledAttr() | |
| Determines whether the body is kinematic or not. | |
| GetRigidBodyEnabledAttr() | |
| Determines if this PhysicsRigidBodyAPI is enabled. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| GetSimulationOwnerRel() | |
| Single PhysicsScene that will simulate this body. | |
| GetStartsAsleepAttr() | |
| Determines if the body is asleep when the simulation starts. | |
| GetVelocityAttr() | |
| Linear velocity in the same space as the node's xform. | |
| class MassInformation | |
| Attributes: | |
| centerOfMass | |
| inertia | |
| localPos | |
| localRot | |
| volume | |
| property centerOfMass | |
| property inertia | |
| property localPos | |
| property localRot | |
| property volume | |
| static Apply() | |
| classmethod Apply(prim) -> RigidBodyAPI | |
| 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. | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| static CanApply() | |
| classmethod CanApply(prim, whyNot) -> bool | |
| 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. | |
| UsdPrim::GetAppliedSchemas() | |
| UsdPrim::HasAPI() | |
| UsdPrim::CanApplyAPI() | |
| UsdPrim::ApplyAPI() | |
| UsdPrim::RemoveAPI() | |
| Parameters | |
| prim (Prim) – | |
| whyNot (str) – | |
| ComputeMassProperties(diagonalInertia, com, principalAxes, massInfoFn) → float | |
| 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. | |
| Computed mass of the rigid body | |
| Parameters | |
| diagonalInertia (Vec3f) – | |
| com (Vec3f) – | |
| principalAxes (Quatf) – | |
| massInfoFn (MassInformationFn) – | |
| CreateAngularVelocityAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateKinematicEnabledAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateRigidBodyEnabledAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateSimulationOwnerRel() → Relationship | |
| See GetSimulationOwnerRel() , and also Create vs Get Property Methods | |
| for when to use Get vs Create. | |
| CreateStartsAsleepAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateVelocityAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Get() | |
| classmethod Get(stage, path) -> RigidBodyAPI | |
| 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)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetAngularVelocityAttr() → Attribute | |
| 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() → Attribute | |
| 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() → Attribute | |
| Determines if this PhysicsRigidBodyAPI is enabled. | |
| Declaration | |
| bool physics:rigidBodyEnabled = 1 | |
| C++ Type | |
| bool | |
| Usd Type | |
| SdfValueTypeNames->Bool | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| GetSimulationOwnerRel() → Relationship | |
| Single PhysicsScene that will simulate this body. | |
| By default this is the first PhysicsScene found in the stage using | |
| UsdStage::Traverse() . | |
| GetStartsAsleepAttr() → Attribute | |
| 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() → Attribute | |
| 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 | |
| class pxr.UsdPhysics.Scene | |
| General physics simulation properties, required for simulation. | |
| Methods: | |
| CreateGravityDirectionAttr(defaultValue, ...) | |
| See GetGravityDirectionAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateGravityMagnitudeAttr(defaultValue, ...) | |
| See GetGravityMagnitudeAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> Scene | |
| Get | |
| classmethod Get(stage, path) -> Scene | |
| GetGravityDirectionAttr() | |
| Gravity direction vector in simulation world space. | |
| GetGravityMagnitudeAttr() | |
| Gravity acceleration magnitude in simulation world space. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| CreateGravityDirectionAttr(defaultValue, writeSparsely) → Attribute | |
| See GetGravityDirectionAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateGravityMagnitudeAttr(defaultValue, writeSparsely) → Attribute | |
| See GetGravityMagnitudeAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> Scene | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> Scene | |
| Return a UsdPhysicsScene 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: | |
| UsdPhysicsScene(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetGravityDirectionAttr() → Attribute | |
| Gravity direction vector in simulation world space. | |
| Will be normalized before use. A zero vector is a request to use the | |
| negative upAxis. Unitless. | |
| Declaration | |
| vector3f physics:gravityDirection = (0, 0, 0) | |
| C++ Type | |
| GfVec3f | |
| Usd Type | |
| SdfValueTypeNames->Vector3f | |
| GetGravityMagnitudeAttr() → Attribute | |
| Gravity acceleration magnitude in simulation world space. | |
| A negative value is a request to use a value equivalent to earth | |
| gravity regardless of the metersPerUnit scaling used by this scene. | |
| Units: distance/second/second. | |
| Declaration | |
| float physics:gravityMagnitude = -inf | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.SphericalJoint | |
| Predefined spherical joint type (Removes linear degrees of freedom, | |
| cone limit may restrict the motion in a given range.) It allows two | |
| limit values, which when equal create a circular, else an elliptic | |
| cone limit around the limit axis. | |
| 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. | |
| Methods: | |
| CreateAxisAttr(defaultValue, writeSparsely) | |
| See GetAxisAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateConeAngle0LimitAttr(defaultValue, ...) | |
| See GetConeAngle0LimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| CreateConeAngle1LimitAttr(defaultValue, ...) | |
| See GetConeAngle1LimitAttr() , and also Create vs Get Property Methods for when to use Get vs Create. | |
| Define | |
| classmethod Define(stage, path) -> SphericalJoint | |
| Get | |
| classmethod Get(stage, path) -> SphericalJoint | |
| GetAxisAttr() | |
| Cone limit axis. | |
| GetConeAngle0LimitAttr() | |
| Cone limit from the primary joint axis in the local0 frame toward the next axis. | |
| GetConeAngle1LimitAttr() | |
| Cone limit from the primary joint axis in the local0 frame toward the second to next axis. | |
| GetSchemaAttributeNames | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| CreateAxisAttr(defaultValue, writeSparsely) → Attribute | |
| 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateConeAngle0LimitAttr(defaultValue, writeSparsely) → Attribute | |
| See GetConeAngle0LimitAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| CreateConeAngle1LimitAttr(defaultValue, writeSparsely) → Attribute | |
| See GetConeAngle1LimitAttr() , 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 . | |
| Parameters | |
| defaultValue (VtValue) – | |
| writeSparsely (bool) – | |
| static Define() | |
| classmethod Define(stage, path) -> SphericalJoint | |
| 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. | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| static Get() | |
| classmethod Get(stage, path) -> SphericalJoint | |
| Return a UsdPhysicsSphericalJoint 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: | |
| UsdPhysicsSphericalJoint(stage->GetPrimAtPath(path)); | |
| Parameters | |
| stage (Stage) – | |
| path (Path) – | |
| GetAxisAttr() → Attribute | |
| Cone limit axis. | |
| Declaration | |
| uniform token physics:axis ="X" | |
| C++ Type | |
| TfToken | |
| Usd Type | |
| SdfValueTypeNames->Token | |
| Variability | |
| SdfVariabilityUniform | |
| Allowed Values | |
| X, Y, Z | |
| GetConeAngle0LimitAttr() → Attribute | |
| Cone limit from the primary joint axis in the local0 frame toward the | |
| next axis. | |
| (Next axis of X is Y, and of Z is X.) A negative value means not | |
| limited. Units: degrees. | |
| Declaration | |
| float physics:coneAngle0Limit = -1 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| GetConeAngle1LimitAttr() → Attribute | |
| Cone limit from the primary joint axis in the local0 frame toward the | |
| second to next axis. | |
| A negative value means not limited. Units: degrees. | |
| Declaration | |
| float physics:coneAngle1Limit = -1 | |
| C++ Type | |
| float | |
| Usd Type | |
| SdfValueTypeNames->Float | |
| static GetSchemaAttributeNames() | |
| classmethod GetSchemaAttributeNames(includeInherited) -> list[TfToken] | |
| 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. | |
| Parameters | |
| includeInherited (bool) – | |
| class pxr.UsdPhysics.Tokens | |
| Attributes: | |
| acceleration | |
| angular | |
| boundingCube | |
| boundingSphere | |
| colliders | |
| convexDecomposition | |
| convexHull | |
| distance | |
| drive | |
| drive_MultipleApplyTemplate_PhysicsDamping | |
| drive_MultipleApplyTemplate_PhysicsMaxForce | |
| drive_MultipleApplyTemplate_PhysicsStiffness | |
| drive_MultipleApplyTemplate_PhysicsTargetPosition | |
| drive_MultipleApplyTemplate_PhysicsTargetVelocity | |
| drive_MultipleApplyTemplate_PhysicsType | |
| force | |
| kilogramsPerUnit | |
| limit | |
| limit_MultipleApplyTemplate_PhysicsHigh | |
| limit_MultipleApplyTemplate_PhysicsLow | |
| linear | |
| meshSimplification | |
| none | |
| physicsAngularVelocity | |
| physicsApproximation | |
| physicsAxis | |
| physicsBody0 | |
| physicsBody1 | |
| physicsBreakForce | |
| physicsBreakTorque | |
| physicsCenterOfMass | |
| physicsCollisionEnabled | |
| physicsConeAngle0Limit | |
| physicsConeAngle1Limit | |
| physicsDensity | |
| physicsDiagonalInertia | |
| physicsDynamicFriction | |
| physicsExcludeFromArticulation | |
| physicsFilteredGroups | |
| physicsFilteredPairs | |
| physicsGravityDirection | |
| physicsGravityMagnitude | |
| physicsInvertFilteredGroups | |
| physicsJointEnabled | |
| physicsKinematicEnabled | |
| physicsLocalPos0 | |
| physicsLocalPos1 | |
| physicsLocalRot0 | |
| physicsLocalRot1 | |
| physicsLowerLimit | |
| physicsMass | |
| physicsMaxDistance | |
| physicsMergeGroup | |
| physicsMinDistance | |
| physicsPrincipalAxes | |
| physicsRestitution | |
| physicsRigidBodyEnabled | |
| physicsSimulationOwner | |
| physicsStartsAsleep | |
| physicsStaticFriction | |
| physicsUpperLimit | |
| physicsVelocity | |
| rotX | |
| rotY | |
| rotZ | |
| transX | |
| transY | |
| transZ | |
| x | |
| y | |
| z | |
| acceleration = 'acceleration' | |
| angular = 'angular' | |
| boundingCube = 'boundingCube' | |
| boundingSphere = 'boundingSphere' | |
| colliders = 'colliders' | |
| convexDecomposition = 'convexDecomposition' | |
| convexHull = 'convexHull' | |
| distance = 'distance' | |
| drive = 'drive' | |
| drive_MultipleApplyTemplate_PhysicsDamping = 'drive:__INSTANCE_NAME__:physics:damping' | |
| drive_MultipleApplyTemplate_PhysicsMaxForce = 'drive:__INSTANCE_NAME__:physics:maxForce' | |
| drive_MultipleApplyTemplate_PhysicsStiffness = 'drive:__INSTANCE_NAME__:physics:stiffness' | |
| drive_MultipleApplyTemplate_PhysicsTargetPosition = 'drive:__INSTANCE_NAME__:physics:targetPosition' | |
| drive_MultipleApplyTemplate_PhysicsTargetVelocity = 'drive:__INSTANCE_NAME__:physics:targetVelocity' | |
| drive_MultipleApplyTemplate_PhysicsType = 'drive:__INSTANCE_NAME__:physics:type' | |
| force = 'force' | |
| kilogramsPerUnit = 'kilogramsPerUnit' | |
| limit = 'limit' | |
| limit_MultipleApplyTemplate_PhysicsHigh = 'limit:__INSTANCE_NAME__:physics:high' | |
| limit_MultipleApplyTemplate_PhysicsLow = 'limit:__INSTANCE_NAME__:physics:low' | |
| linear = 'linear' | |
| meshSimplification = 'meshSimplification' | |
| none = 'none' | |
| physicsAngularVelocity = 'physics:angularVelocity' | |
| physicsApproximation = 'physics:approximation' | |
| physicsAxis = 'physics:axis' | |
| physicsBody0 = 'physics:body0' | |
| physicsBody1 = 'physics:body1' | |
| physicsBreakForce = 'physics:breakForce' | |
| physicsBreakTorque = 'physics:breakTorque' | |
| physicsCenterOfMass = 'physics:centerOfMass' | |
| physicsCollisionEnabled = 'physics:collisionEnabled' | |
| physicsConeAngle0Limit = 'physics:coneAngle0Limit' | |
| physicsConeAngle1Limit = 'physics:coneAngle1Limit' | |
| physicsDensity = 'physics:density' | |
| physicsDiagonalInertia = 'physics:diagonalInertia' | |
| physicsDynamicFriction = 'physics:dynamicFriction' | |
| physicsExcludeFromArticulation = 'physics:excludeFromArticulation' | |
| physicsFilteredGroups = 'physics:filteredGroups' | |
| physicsFilteredPairs = 'physics:filteredPairs' | |
| physicsGravityDirection = 'physics:gravityDirection' | |
| physicsGravityMagnitude = 'physics:gravityMagnitude' | |
| physicsInvertFilteredGroups = 'physics:invertFilteredGroups' | |
| physicsJointEnabled = 'physics:jointEnabled' | |
| physicsKinematicEnabled = 'physics:kinematicEnabled' | |
| physicsLocalPos0 = 'physics:localPos0' | |
| physicsLocalPos1 = 'physics:localPos1' | |
| physicsLocalRot0 = 'physics:localRot0' | |
| physicsLocalRot1 = 'physics:localRot1' | |
| physicsLowerLimit = 'physics:lowerLimit' | |
| physicsMass = 'physics:mass' | |
| physicsMaxDistance = 'physics:maxDistance' | |
| physicsMergeGroup = 'physics:mergeGroup' | |
| physicsMinDistance = 'physics:minDistance' | |
| physicsPrincipalAxes = 'physics:principalAxes' | |
| physicsRestitution = 'physics:restitution' | |
| physicsRigidBodyEnabled = 'physics:rigidBodyEnabled' | |
| physicsSimulationOwner = 'physics:simulationOwner' | |
| physicsStartsAsleep = 'physics:startsAsleep' | |
| physicsStaticFriction = 'physics:staticFriction' | |
| physicsUpperLimit = 'physics:upperLimit' | |
| physicsVelocity = 'physics:velocity' | |
| rotX = 'rotX' | |
| rotY = 'rotY' | |
| rotZ = 'rotZ' | |
| transX = 'transX' | |
| transY = 'transY' | |
| transZ = 'transZ' | |
| x = 'X' | |
| y = 'Y' | |
| z = 'Z' | |
| © Copyright 2019-2023, NVIDIA. | |
| Last updated on Nov 14, 2023. | |