diff --git "a/UsdPhysics.md" "b/UsdPhysics.md" new file mode 100644--- /dev/null +++ "b/UsdPhysics.md" @@ -0,0 +1,3351 @@ + + +UsdPhysics module — pxr-usd-api 105.1 documentation + +pxr-usd-api + + » +Modules » +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:name”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.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:name”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.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. + + +