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.