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Update USD schema formatting

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PiperOrigin-RevId: 800018484
Change-Id: I7677cd099415af1271c7475d80a660653199b984
This commit is contained in:
Yuval Tassa
2025-08-27 07:01:58 -07:00
committed by Copybara-Service
parent ed6fa7fe09
commit 643dc5bf4f
18 changed files with 400 additions and 400 deletions
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include/mujoco/experimental/usd/mjcPhysics/actuator.h
+32 -32
View File
@@ -59,13 +59,13 @@ class MjcPhysicsActuator : public UsdTyped {
/// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsActuator(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsActuator(const UsdPrim& prim = UsdPrim())
: UsdTyped(prim) {} : UsdTyped(prim) {}
/// Construct a MjcPhysicsActuator on the prim held by \p schemaObj . /// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsActuator(const UsdSchemaBase &schemaObj) explicit MjcPhysicsActuator(const UsdSchemaBase& schemaObj)
: UsdTyped(schemaObj) {} : UsdTyped(schemaObj) {}
/// Destructor. /// Destructor.
@@ -76,7 +76,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsActuator holding the prim adhering to this /// Return a MjcPhysicsActuator holding the prim adhering to this
@@ -89,7 +89,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsActuator Get(const UsdStagePtr &stage, const SdfPath &path); static MjcPhysicsActuator Get(const UsdStagePtr& stage, const SdfPath& path);
/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
/// is defined (according to UsdPrim::IsDefined()) on this stage. /// is defined (according to UsdPrim::IsDefined()) on this stage.
@@ -114,8 +114,8 @@ class MjcPhysicsActuator : public UsdTyped {
/// the opinion at the current EditTarget. /// the opinion at the current EditTarget.
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsActuator Define(const UsdStagePtr &stage, static MjcPhysicsActuator Define(const UsdStagePtr& stage,
const SdfPath &path); const SdfPath& path);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -128,13 +128,13 @@ class MjcPhysicsActuator : public UsdTyped {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -157,7 +157,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -187,7 +187,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -217,7 +217,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcForceLimitedAttr( UsdAttribute CreateMjcForceLimitedAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -247,7 +247,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActLimitedAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcActLimitedAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -274,7 +274,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcCtrlRangeMinAttr( UsdAttribute CreateMjcCtrlRangeMinAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -301,7 +301,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcCtrlRangeMaxAttr( UsdAttribute CreateMjcCtrlRangeMaxAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -328,7 +328,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcForceRangeMinAttr( UsdAttribute CreateMjcForceRangeMinAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -355,7 +355,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcForceRangeMaxAttr( UsdAttribute CreateMjcForceRangeMaxAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -382,7 +382,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActRangeMinAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcActRangeMinAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -409,7 +409,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActRangeMaxAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcActRangeMaxAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -434,7 +434,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcLengthRangeMinAttr( UsdAttribute CreateMjcLengthRangeMinAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -459,7 +459,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcLengthRangeMaxAttr( UsdAttribute CreateMjcLengthRangeMaxAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -490,7 +490,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcGearAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcGearAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -516,7 +516,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcCrankLengthAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcCrankLengthAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -543,7 +543,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcJointInParentAttr( UsdAttribute CreateMjcJointInParentAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -571,7 +571,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActDimAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcActDimAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -598,7 +598,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcDynTypeAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcDynTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -624,7 +624,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcGainTypeAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcGainTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -650,7 +650,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcBiasTypeAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcBiasTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -679,7 +679,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcDynPrmAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcDynPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -707,7 +707,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcGainPrmAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcGainPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -734,7 +734,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcBiasPrmAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcBiasPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -760,7 +760,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActEarlyAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcActEarlyAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -794,7 +794,7 @@ class MjcPhysicsActuator : public UsdTyped {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcInheritRangeAttr( UsdAttribute CreateMjcInheritRangeAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+18 -18
View File
@@ -53,13 +53,13 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsCollisionAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsCollisionAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsCollisionAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsCollisionAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -70,7 +70,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsCollisionAPI holding the prim adhering to this /// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
@@ -83,8 +83,8 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsCollisionAPI Get(const UsdStagePtr &stage, static MjcPhysicsCollisionAPI Get(const UsdStagePtr& stage,
const SdfPath &path); const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -103,7 +103,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcCollisionAPI" to the /// This information is stored by adding "MjcCollisionAPI" to the
@@ -121,7 +121,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsCollisionAPI Apply(const UsdPrim &prim); static MjcPhysicsCollisionAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -134,13 +134,13 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -163,7 +163,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -188,7 +188,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateShellInertiaAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateShellInertiaAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -213,7 +213,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreatePriorityAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreatePriorityAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -239,7 +239,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateConDimAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateConDimAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -264,7 +264,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSolMixAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSolMixAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -289,7 +289,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSolRefAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -314,7 +314,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSolImpAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -339,7 +339,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMarginAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMarginAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -367,7 +367,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGapAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGapAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/imageableAPI.h
+10 -10
View File
@@ -53,13 +53,13 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsImageableAPI::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsImageableAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsImageableAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsImageableAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsImageableAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsImageableAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsImageableAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsImageableAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsImageableAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsImageableAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -70,7 +70,7 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsImageableAPI holding the prim adhering to this /// Return a MjcPhysicsImageableAPI holding the prim adhering to this
@@ -83,8 +83,8 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsImageableAPI Get(const UsdStagePtr &stage, static MjcPhysicsImageableAPI Get(const UsdStagePtr& stage,
const SdfPath &path); const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -103,7 +103,7 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcImageableAPI" to the /// This information is stored by adding "MjcImageableAPI" to the
@@ -121,7 +121,7 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsImageableAPI Apply(const UsdPrim &prim); static MjcPhysicsImageableAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -134,13 +134,13 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -163,7 +163,7 @@ class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
+25 -25
View File
@@ -58,13 +58,13 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsJointAPI::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsJointAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsJointAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsJointAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsJointAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsJointAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsJointAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsJointAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsJointAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsJointAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -75,7 +75,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsJointAPI holding the prim adhering to this /// Return a MjcPhysicsJointAPI holding the prim adhering to this
@@ -88,7 +88,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsJointAPI Get(const UsdStagePtr &stage, const SdfPath &path); static MjcPhysicsJointAPI Get(const UsdStagePtr& stage, const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -107,7 +107,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcJointAPI" to the /// This information is stored by adding "MjcJointAPI" to the
@@ -125,7 +125,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsJointAPI Apply(const UsdPrim &prim); static MjcPhysicsJointAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -138,13 +138,13 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -167,7 +167,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -198,7 +198,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcSpringdamperAttr( UsdAttribute CreateMjcSpringdamperAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -222,7 +222,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcSolreflimitAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcSolreflimitAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -246,7 +246,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcSolimplimitAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcSolimplimitAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -271,7 +271,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcSolreffrictionAttr( UsdAttribute CreateMjcSolreffrictionAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -296,7 +296,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcSolimpfrictionAttr( UsdAttribute CreateMjcSolimpfrictionAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -322,7 +322,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcStiffnessAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcStiffnessAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -352,7 +352,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActuatorfrcrangeMinAttr( UsdAttribute CreateMjcActuatorfrcrangeMinAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -382,7 +382,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActuatorfrcrangeMaxAttr( UsdAttribute CreateMjcActuatorfrcrangeMaxAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -415,7 +415,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActuatorfrclimitedAttr( UsdAttribute CreateMjcActuatorfrclimitedAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -448,7 +448,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActuatorgravcompAttr( UsdAttribute CreateMjcActuatorgravcompAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -476,7 +476,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcMarginAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcMarginAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -506,7 +506,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcRefAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcRefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -537,7 +537,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcSpringrefAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcSpringrefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -568,7 +568,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcArmatureAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcArmatureAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -597,7 +597,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcDampingAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcDampingAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -625,7 +625,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcFrictionlossAttr( UsdAttribute CreateMjcFrictionlossAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/keyframe.h
+14 -14
View File
@@ -53,13 +53,13 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsKeyframe(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsKeyframe(const UsdPrim& prim = UsdPrim())
: UsdTyped(prim) {} : UsdTyped(prim) {}
/// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj . /// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsKeyframe(const UsdSchemaBase &schemaObj) explicit MjcPhysicsKeyframe(const UsdSchemaBase& schemaObj)
: UsdTyped(schemaObj) {} : UsdTyped(schemaObj) {}
/// Destructor. /// Destructor.
@@ -70,7 +70,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsKeyframe holding the prim adhering to this /// Return a MjcPhysicsKeyframe holding the prim adhering to this
@@ -83,7 +83,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsKeyframe Get(const UsdStagePtr &stage, const SdfPath &path); static MjcPhysicsKeyframe Get(const UsdStagePtr& stage, const SdfPath& path);
/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
/// is defined (according to UsdPrim::IsDefined()) on this stage. /// is defined (according to UsdPrim::IsDefined()) on this stage.
@@ -108,8 +108,8 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// the opinion at the current EditTarget. /// the opinion at the current EditTarget.
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsKeyframe Define(const UsdStagePtr &stage, static MjcPhysicsKeyframe Define(const UsdStagePtr& stage,
const SdfPath &path); const SdfPath& path);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -122,13 +122,13 @@ class MjcPhysicsKeyframe : public UsdTyped {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -151,7 +151,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcQposAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcQposAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -175,7 +175,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcQvelAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcQvelAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -199,7 +199,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcActAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcActAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -223,7 +223,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcCtrlAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcCtrlAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -247,7 +247,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcMposAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcMposAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -271,7 +271,7 @@ class MjcPhysicsKeyframe : public UsdTyped {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMjcMquatAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMjcMquatAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
+11 -11
View File
@@ -53,13 +53,13 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsMaterialAPI::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsMaterialAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsMaterialAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsMaterialAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsMaterialAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsMaterialAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsMaterialAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsMaterialAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsMaterialAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsMaterialAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -70,7 +70,7 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsMaterialAPI holding the prim adhering to this /// Return a MjcPhysicsMaterialAPI holding the prim adhering to this
@@ -83,8 +83,8 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsMaterialAPI Get(const UsdStagePtr &stage, static MjcPhysicsMaterialAPI Get(const UsdStagePtr& stage,
const SdfPath &path); const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -103,7 +103,7 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcMaterialAPI" to the /// This information is stored by adding "MjcMaterialAPI" to the
@@ -121,7 +121,7 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsMaterialAPI Apply(const UsdPrim &prim); static MjcPhysicsMaterialAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -134,13 +134,13 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -164,7 +164,7 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateTorsionalFrictionAttr( UsdAttribute CreateTorsionalFrictionAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -189,7 +189,7 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateRollingFrictionAttr( UsdAttribute CreateRollingFrictionAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
+11 -11
View File
@@ -58,13 +58,13 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(), /// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
/// error for an invalid \p prim /// error for an invalid \p prim
explicit MjcPhysicsMeshCollisionAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsMeshCollisionAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -75,7 +75,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this /// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
@@ -88,8 +88,8 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr &stage, static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr& stage,
const SdfPath &path); const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -108,7 +108,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcMeshCollisionAPI" to the /// This information is stored by adding "MjcMeshCollisionAPI" to the
@@ -126,7 +126,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim &prim); static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -139,13 +139,13 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -170,7 +170,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateInertiaAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateInertiaAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -195,7 +195,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMaxHullVertAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMaxHullVertAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+71 -71
View File
@@ -58,13 +58,13 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsSceneAPI::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsSceneAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsSceneAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsSceneAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsSceneAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsSceneAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsSceneAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsSceneAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsSceneAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsSceneAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -75,7 +75,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsSceneAPI holding the prim adhering to this /// Return a MjcPhysicsSceneAPI holding the prim adhering to this
@@ -88,7 +88,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsSceneAPI Get(const UsdStagePtr &stage, const SdfPath &path); static MjcPhysicsSceneAPI Get(const UsdStagePtr& stage, const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -107,7 +107,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcSceneAPI" to the /// This information is stored by adding "MjcSceneAPI" to the
@@ -125,7 +125,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsSceneAPI Apply(const UsdPrim &prim); static MjcPhysicsSceneAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -138,13 +138,13 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -167,7 +167,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateTimestepAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateTimestepAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -192,7 +192,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateApiRateAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateApiRateAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -217,7 +217,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateImpRatioAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateImpRatioAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -241,7 +241,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateWindAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateWindAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -265,7 +265,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMagneticAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMagneticAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -289,7 +289,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateDensityAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateDensityAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -313,7 +313,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateViscosityAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateViscosityAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -338,7 +338,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateOMarginAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateOMarginAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -363,7 +363,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateOSolRefAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateOSolRefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -388,7 +388,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateOSolImpAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateOSolImpAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -413,7 +413,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateOFrictionAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateOFrictionAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -439,7 +439,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateIntegratorAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateIntegratorAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -464,7 +464,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateConeAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateConeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -489,7 +489,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateJacobianAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateJacobianAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -514,7 +514,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSolverAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSolverAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -538,7 +538,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateIterationsAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateIterationsAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -563,7 +563,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateToleranceAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateToleranceAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -588,7 +588,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateLSIterationsAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateLSIterationsAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -613,7 +613,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateLSToleranceAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateLSToleranceAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -638,7 +638,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateNoslipIterationsAttr( UsdAttribute CreateNoslipIterationsAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -663,7 +663,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateNoslipToleranceAttr( UsdAttribute CreateNoslipToleranceAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -687,7 +687,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateCCDIterationsAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateCCDIterationsAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -712,7 +712,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateCCDToleranceAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateCCDToleranceAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -737,7 +737,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSDFIterationsAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSDFIterationsAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -762,7 +762,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSDFInitPointsAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSDFInitPointsAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -787,7 +787,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateActuatorGroupDisableAttr( UsdAttribute CreateActuatorGroupDisableAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -811,7 +811,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateConstraintFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateConstraintFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -835,7 +835,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateEqualityFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateEqualityFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -860,7 +860,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateFrictionLossFlagAttr( UsdAttribute CreateFrictionLossFlagAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -885,7 +885,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateLimitFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateLimitFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -910,7 +910,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateContactFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateContactFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -935,7 +935,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreatePassiveFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreatePassiveFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -960,7 +960,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGravityFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGravityFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -985,7 +985,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateClampCtrlFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateClampCtrlFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1010,7 +1010,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateWarmStartFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateWarmStartFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1036,7 +1036,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateFilterParentFlagAttr( UsdAttribute CreateFilterParentFlagAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1061,7 +1061,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateActuationFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateActuationFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1086,7 +1086,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateRefSafeFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateRefSafeFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1110,7 +1110,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSensorFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSensorFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1135,7 +1135,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMidPhaseFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMidPhaseFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1160,7 +1160,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateNativeCCDFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateNativeCCDFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1185,7 +1185,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateEulerDampFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateEulerDampFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1210,7 +1210,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateAutoResetFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateAutoResetFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1234,7 +1234,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateOverrideFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateOverrideFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1259,7 +1259,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateEnergyFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateEnergyFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1283,7 +1283,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateFwdinvFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateFwdinvFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1309,7 +1309,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateInvDiscreteFlagAttr( UsdAttribute CreateInvDiscreteFlagAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1334,7 +1334,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateMultiCCDFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateMultiCCDFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1358,7 +1358,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateIslandFlagAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateIslandFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1388,7 +1388,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateAutoLimitsAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateAutoLimitsAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1413,7 +1413,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateBoundMassAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateBoundMassAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1438,7 +1438,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateBoundInertiaAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateBoundInertiaAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1468,7 +1468,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSetTotalMassAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSetTotalMassAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1494,7 +1494,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateUseThreadAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateUseThreadAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1523,7 +1523,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateBalanceInertiaAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateBalanceInertiaAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1549,7 +1549,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateAngleAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateAngleAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1576,7 +1576,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateFitAABBAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateFitAABBAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1608,7 +1608,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateFuseStaticAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateFuseStaticAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1644,7 +1644,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateInertiaFromGeomAttr( UsdAttribute CreateInertiaFromGeomAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1671,7 +1671,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateAlignFreeAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateAlignFreeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1704,7 +1704,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateInertiaGroupRangeMinAttr( UsdAttribute CreateInertiaGroupRangeMinAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1738,7 +1738,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateInertiaGroupRangeMaxAttr( UsdAttribute CreateInertiaGroupRangeMaxAttr(
VtValue const &defaultValue = VtValue(), VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
@@ -1762,7 +1762,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateSaveInertialAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateSaveInertialAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
+9 -9
View File
@@ -53,13 +53,13 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
/// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath()) /// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for /// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim /// an invalid \p prim
explicit MjcPhysicsSiteAPI(const UsdPrim &prim = UsdPrim()) explicit MjcPhysicsSiteAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {} : UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj . /// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()), /// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state. /// as it preserves SchemaBase state.
explicit MjcPhysicsSiteAPI(const UsdSchemaBase &schemaObj) explicit MjcPhysicsSiteAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {} : UsdAPISchemaBase(schemaObj) {}
/// Destructor. /// Destructor.
@@ -70,7 +70,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
/// class and all its ancestor classes. Does not include attributes that /// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved. /// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API MJCPHYSICS_API
static const TfTokenVector &GetSchemaAttributeNames( static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true); bool includeInherited = true);
/// Return a MjcPhysicsSiteAPI holding the prim adhering to this /// Return a MjcPhysicsSiteAPI holding the prim adhering to this
@@ -83,7 +83,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
/// \endcode /// \endcode
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsSiteAPI Get(const UsdStagePtr &stage, const SdfPath &path); static MjcPhysicsSiteAPI Get(const UsdStagePtr& stage, const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to /// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim, /// the given \p prim. If this schema can not be a applied to the prim,
@@ -102,7 +102,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr); static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim. /// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcSiteAPI" to the /// This information is stored by adding "MjcSiteAPI" to the
@@ -120,7 +120,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
/// \sa UsdPrim::RemoveAPI() /// \sa UsdPrim::RemoveAPI()
/// ///
MJCPHYSICS_API MJCPHYSICS_API
static MjcPhysicsSiteAPI Apply(const UsdPrim &prim); static MjcPhysicsSiteAPI Apply(const UsdPrim& prim);
protected: protected:
/// Returns the kind of schema this class belongs to. /// Returns the kind of schema this class belongs to.
@@ -133,13 +133,13 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
// needs to invoke _GetStaticTfType. // needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry; friend class UsdSchemaRegistry;
MJCPHYSICS_API MJCPHYSICS_API
static const TfType &_GetStaticTfType(); static const TfType& _GetStaticTfType();
static bool _IsTypedSchema(); static bool _IsTypedSchema();
// override SchemaBase virtuals. // override SchemaBase virtuals.
MJCPHYSICS_API MJCPHYSICS_API
const TfType &_GetTfType() const override; const TfType& _GetTfType() const override;
public: public:
// --------------------------------------------------------------------- // // --------------------------------------------------------------------- //
@@ -162,7 +162,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false. /// the default for \p writeSparsely is \c false.
MJCPHYSICS_API MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(), UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const; bool writeSparsely = false) const;
public: public:
src/experimental/usd/mjcPhysics/actuator.cpp
+32 -32
View File
@@ -37,8 +37,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsActuator::~MjcPhysicsActuator() {} MjcPhysicsActuator::~MjcPhysicsActuator() {}
/* static */ /* static */
MjcPhysicsActuator MjcPhysicsActuator::Get(const UsdStagePtr &stage, MjcPhysicsActuator MjcPhysicsActuator::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsActuator(); return MjcPhysicsActuator();
@@ -47,8 +47,8 @@ MjcPhysicsActuator MjcPhysicsActuator::Get(const UsdStagePtr &stage,
} }
/* static */ /* static */
MjcPhysicsActuator MjcPhysicsActuator::Define(const UsdStagePtr &stage, MjcPhysicsActuator MjcPhysicsActuator::Define(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
static TfToken usdPrimTypeName("MjcActuator"); static TfToken usdPrimTypeName("MjcActuator");
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
@@ -63,7 +63,7 @@ UsdSchemaKind MjcPhysicsActuator::_GetSchemaKind() const {
} }
/* static */ /* static */
const TfType &MjcPhysicsActuator::_GetStaticTfType() { const TfType& MjcPhysicsActuator::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsActuator>(); static TfType tfType = TfType::Find<MjcPhysicsActuator>();
return tfType; return tfType;
} }
@@ -75,7 +75,7 @@ bool MjcPhysicsActuator::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsActuator::_GetTfType() const { const TfType& MjcPhysicsActuator::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -83,7 +83,7 @@ UsdAttribute MjcPhysicsActuator::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
} }
UsdAttribute MjcPhysicsActuator::CreateGroupAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsActuator::CreateGroupAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
@@ -95,7 +95,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcCtrlLimitedAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcCtrlLimitedAttr( UsdAttribute MjcPhysicsActuator::CreateMjcCtrlLimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrlLimited, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcCtrlLimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -106,7 +106,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcForceLimitedAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcForceLimitedAttr( UsdAttribute MjcPhysicsActuator::CreateMjcForceLimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcForceLimited, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcForceLimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -117,7 +117,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcActLimitedAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcActLimitedAttr( UsdAttribute MjcPhysicsActuator::CreateMjcActLimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActLimited, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcActLimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -128,7 +128,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMinAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMinAttr( UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrlRangeMin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcCtrlRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -139,7 +139,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMaxAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMaxAttr( UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrlRangeMax, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcCtrlRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -150,7 +150,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMinAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMinAttr( UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcForceRangeMin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcForceRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -161,7 +161,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMaxAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMaxAttr( UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcForceRangeMax, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcForceRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -172,7 +172,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcActRangeMinAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMinAttr( UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActRangeMin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcActRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -183,7 +183,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcActRangeMaxAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMaxAttr( UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActRangeMax, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcActRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -194,7 +194,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMinAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMinAttr( UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcLengthRangeMin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcLengthRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -205,7 +205,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMaxAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMaxAttr( UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcLengthRangeMax, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcLengthRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -215,7 +215,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcGearAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGear); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGear);
} }
UsdAttribute MjcPhysicsActuator::CreateMjcGearAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsActuator::CreateMjcGearAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGear, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcGear, SdfValueTypeNames->DoubleArray,
@@ -227,7 +227,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcCrankLengthAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcCrankLengthAttr( UsdAttribute MjcPhysicsActuator::CreateMjcCrankLengthAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCrankLength, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcCrankLength, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -238,7 +238,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcJointInParentAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcJointInParentAttr( UsdAttribute MjcPhysicsActuator::CreateMjcJointInParentAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcJointInParent, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcJointInParent, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -249,7 +249,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcActDimAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcActDimAttr( UsdAttribute MjcPhysicsActuator::CreateMjcActDimAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActDim, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcActDim, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -260,7 +260,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcDynTypeAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcDynTypeAttr( UsdAttribute MjcPhysicsActuator::CreateMjcDynTypeAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcDynType, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcDynType, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -271,7 +271,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcGainTypeAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcGainTypeAttr( UsdAttribute MjcPhysicsActuator::CreateMjcGainTypeAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGainType, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcGainType, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -282,7 +282,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcBiasTypeAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcBiasTypeAttr( UsdAttribute MjcPhysicsActuator::CreateMjcBiasTypeAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcBiasType, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcBiasType, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -293,7 +293,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcDynPrmAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcDynPrmAttr( UsdAttribute MjcPhysicsActuator::CreateMjcDynPrmAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcDynPrm, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcDynPrm, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -304,7 +304,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcGainPrmAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcGainPrmAttr( UsdAttribute MjcPhysicsActuator::CreateMjcGainPrmAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGainPrm, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcGainPrm, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -315,7 +315,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcBiasPrmAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcBiasPrmAttr( UsdAttribute MjcPhysicsActuator::CreateMjcBiasPrmAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcBiasPrm, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcBiasPrm, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -326,7 +326,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcActEarlyAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcActEarlyAttr( UsdAttribute MjcPhysicsActuator::CreateMjcActEarlyAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActEarly, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcActEarly, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -337,7 +337,7 @@ UsdAttribute MjcPhysicsActuator::GetMjcInheritRangeAttr() const {
} }
UsdAttribute MjcPhysicsActuator::CreateMjcInheritRangeAttr( UsdAttribute MjcPhysicsActuator::CreateMjcInheritRangeAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcInheritRange, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcInheritRange, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -372,7 +372,7 @@ UsdRelationship MjcPhysicsActuator::CreateMjcSliderSiteRel() const {
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -382,7 +382,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsActuator::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsActuator::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcCtrlLimited, MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcCtrlLimited,
src/experimental/usd/mjcPhysics/collisionAPI.cpp
+18 -18
View File
@@ -30,8 +30,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsCollisionAPI::~MjcPhysicsCollisionAPI() {} MjcPhysicsCollisionAPI::~MjcPhysicsCollisionAPI() {}
/* static */ /* static */
MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Get(const UsdStagePtr &stage, MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsCollisionAPI(); return MjcPhysicsCollisionAPI();
@@ -45,13 +45,13 @@ UsdSchemaKind MjcPhysicsCollisionAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsCollisionAPI::CanApply(const UsdPrim &prim, bool MjcPhysicsCollisionAPI::CanApply(const UsdPrim& prim,
std::string *whyNot) { std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsCollisionAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsCollisionAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Apply(const UsdPrim &prim) { MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Apply(const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsCollisionAPI>()) { if (prim.ApplyAPI<MjcPhysicsCollisionAPI>()) {
return MjcPhysicsCollisionAPI(prim); return MjcPhysicsCollisionAPI(prim);
} }
@@ -59,7 +59,7 @@ MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Apply(const UsdPrim &prim) {
} }
/* static */ /* static */
const TfType &MjcPhysicsCollisionAPI::_GetStaticTfType() { const TfType& MjcPhysicsCollisionAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsCollisionAPI>(); static TfType tfType = TfType::Find<MjcPhysicsCollisionAPI>();
return tfType; return tfType;
} }
@@ -71,7 +71,7 @@ bool MjcPhysicsCollisionAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsCollisionAPI::_GetTfType() const { const TfType& MjcPhysicsCollisionAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -80,7 +80,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetGroupAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateGroupAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateGroupAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -91,7 +91,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetShellInertiaAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateShellInertiaAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateShellInertiaAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcShellinertia, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcShellinertia, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -102,7 +102,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetPriorityAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreatePriorityAttr( UsdAttribute MjcPhysicsCollisionAPI::CreatePriorityAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPriority, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcPriority, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -113,7 +113,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetConDimAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateConDimAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateConDimAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCondim, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcCondim, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -124,7 +124,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetSolMixAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateSolMixAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateSolMixAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolmix, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcSolmix, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -135,7 +135,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetSolRefAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateSolRefAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateSolRefAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolref, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSolref, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -146,7 +146,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetSolImpAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateSolImpAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateSolImpAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolimp, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSolimp, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -157,7 +157,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetMarginAttr() const {
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateMarginAttr( UsdAttribute MjcPhysicsCollisionAPI::CreateMarginAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -167,7 +167,7 @@ UsdAttribute MjcPhysicsCollisionAPI::GetGapAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGap); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGap);
} }
UsdAttribute MjcPhysicsCollisionAPI::CreateGapAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsCollisionAPI::CreateGapAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGap, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcGap, SdfValueTypeNames->Double,
@@ -176,7 +176,7 @@ UsdAttribute MjcPhysicsCollisionAPI::CreateGapAttr(VtValue const &defaultValue,
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -186,7 +186,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsCollisionAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsCollisionAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcShellinertia, MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcShellinertia,
src/experimental/usd/mjcPhysics/imageableAPI.cpp
+10 -10
View File
@@ -30,8 +30,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsImageableAPI::~MjcPhysicsImageableAPI() {} MjcPhysicsImageableAPI::~MjcPhysicsImageableAPI() {}
/* static */ /* static */
MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Get(const UsdStagePtr &stage, MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsImageableAPI(); return MjcPhysicsImageableAPI();
@@ -45,13 +45,13 @@ UsdSchemaKind MjcPhysicsImageableAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsImageableAPI::CanApply(const UsdPrim &prim, bool MjcPhysicsImageableAPI::CanApply(const UsdPrim& prim,
std::string *whyNot) { std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsImageableAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsImageableAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Apply(const UsdPrim &prim) { MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Apply(const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsImageableAPI>()) { if (prim.ApplyAPI<MjcPhysicsImageableAPI>()) {
return MjcPhysicsImageableAPI(prim); return MjcPhysicsImageableAPI(prim);
} }
@@ -59,7 +59,7 @@ MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Apply(const UsdPrim &prim) {
} }
/* static */ /* static */
const TfType &MjcPhysicsImageableAPI::_GetStaticTfType() { const TfType& MjcPhysicsImageableAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsImageableAPI>(); static TfType tfType = TfType::Find<MjcPhysicsImageableAPI>();
return tfType; return tfType;
} }
@@ -71,7 +71,7 @@ bool MjcPhysicsImageableAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsImageableAPI::_GetTfType() const { const TfType& MjcPhysicsImageableAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -80,7 +80,7 @@ UsdAttribute MjcPhysicsImageableAPI::GetGroupAttr() const {
} }
UsdAttribute MjcPhysicsImageableAPI::CreateGroupAttr( UsdAttribute MjcPhysicsImageableAPI::CreateGroupAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -88,7 +88,7 @@ UsdAttribute MjcPhysicsImageableAPI::CreateGroupAttr(
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -98,7 +98,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsImageableAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsImageableAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcGroup,
src/experimental/usd/mjcPhysics/jointAPI.cpp
+25 -25
View File
@@ -30,8 +30,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsJointAPI::~MjcPhysicsJointAPI() {} MjcPhysicsJointAPI::~MjcPhysicsJointAPI() {}
/* static */ /* static */
MjcPhysicsJointAPI MjcPhysicsJointAPI::Get(const UsdStagePtr &stage, MjcPhysicsJointAPI MjcPhysicsJointAPI::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsJointAPI(); return MjcPhysicsJointAPI();
@@ -45,12 +45,12 @@ UsdSchemaKind MjcPhysicsJointAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsJointAPI::CanApply(const UsdPrim &prim, std::string *whyNot) { bool MjcPhysicsJointAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsJointAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsJointAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsJointAPI MjcPhysicsJointAPI::Apply(const UsdPrim &prim) { MjcPhysicsJointAPI MjcPhysicsJointAPI::Apply(const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsJointAPI>()) { if (prim.ApplyAPI<MjcPhysicsJointAPI>()) {
return MjcPhysicsJointAPI(prim); return MjcPhysicsJointAPI(prim);
} }
@@ -58,7 +58,7 @@ MjcPhysicsJointAPI MjcPhysicsJointAPI::Apply(const UsdPrim &prim) {
} }
/* static */ /* static */
const TfType &MjcPhysicsJointAPI::_GetStaticTfType() { const TfType& MjcPhysicsJointAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsJointAPI>(); static TfType tfType = TfType::Find<MjcPhysicsJointAPI>();
return tfType; return tfType;
} }
@@ -70,7 +70,7 @@ bool MjcPhysicsJointAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsJointAPI::_GetTfType() const { const TfType& MjcPhysicsJointAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -78,7 +78,7 @@ UsdAttribute MjcPhysicsJointAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
} }
UsdAttribute MjcPhysicsJointAPI::CreateGroupAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsJointAPI::CreateGroupAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
@@ -90,7 +90,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringdamperAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringdamperAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSpringdamper, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSpringdamper, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -101,7 +101,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcSolreflimitAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreflimitAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreflimitAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolreflimit, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSolreflimit, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -112,7 +112,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcSolimplimitAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimplimitAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimplimitAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolimplimit, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSolimplimit, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -123,7 +123,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcSolreffrictionAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreffrictionAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreffrictionAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolreffriction, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSolreffriction, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -134,7 +134,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcSolimpfrictionAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimpfrictionAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimpfrictionAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSolimpfriction, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcSolimpfriction, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -145,7 +145,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcStiffnessAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcStiffnessAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcStiffnessAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcStiffness, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcStiffness, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -156,7 +156,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMinAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMinAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActuatorfrcrangeMin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcActuatorfrcrangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -167,7 +167,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMaxAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMaxAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActuatorfrcrangeMax, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcActuatorfrcrangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -178,7 +178,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrclimitedAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrclimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActuatorfrclimited, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcActuatorfrclimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -189,7 +189,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorgravcompAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorgravcompAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorgravcompAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActuatorgravcomp, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcActuatorgravcomp, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -200,7 +200,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcMarginAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcMarginAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcMarginAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -210,7 +210,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcRefAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRef); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRef);
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcRefAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsJointAPI::CreateMjcRefAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcRef, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcRef, SdfValueTypeNames->Double,
@@ -222,7 +222,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcSpringrefAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringrefAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringrefAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcSpringref, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcSpringref, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -233,7 +233,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcArmatureAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcArmatureAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcArmatureAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcArmature, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcArmature, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -244,7 +244,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcDampingAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcDampingAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcDampingAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcDamping, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcDamping, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -255,7 +255,7 @@ UsdAttribute MjcPhysicsJointAPI::GetMjcFrictionlossAttr() const {
} }
UsdAttribute MjcPhysicsJointAPI::CreateMjcFrictionlossAttr( UsdAttribute MjcPhysicsJointAPI::CreateMjcFrictionlossAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFrictionloss, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcFrictionloss, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -263,7 +263,7 @@ UsdAttribute MjcPhysicsJointAPI::CreateMjcFrictionlossAttr(
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -273,7 +273,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsJointAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsJointAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcGroup,
src/experimental/usd/mjcPhysics/keyframe.cpp
+14 -14
View File
@@ -37,8 +37,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsKeyframe::~MjcPhysicsKeyframe() {} MjcPhysicsKeyframe::~MjcPhysicsKeyframe() {}
/* static */ /* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr &stage, MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsKeyframe(); return MjcPhysicsKeyframe();
@@ -47,8 +47,8 @@ MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr &stage,
} }
/* static */ /* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr &stage, MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
static TfToken usdPrimTypeName("MjcKeyframe"); static TfToken usdPrimTypeName("MjcKeyframe");
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
@@ -63,7 +63,7 @@ UsdSchemaKind MjcPhysicsKeyframe::_GetSchemaKind() const {
} }
/* static */ /* static */
const TfType &MjcPhysicsKeyframe::_GetStaticTfType() { const TfType& MjcPhysicsKeyframe::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsKeyframe>(); static TfType tfType = TfType::Find<MjcPhysicsKeyframe>();
return tfType; return tfType;
} }
@@ -75,7 +75,7 @@ bool MjcPhysicsKeyframe::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsKeyframe::_GetTfType() const { const TfType& MjcPhysicsKeyframe::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -83,7 +83,7 @@ UsdAttribute MjcPhysicsKeyframe::GetMjcQposAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQpos); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQpos);
} }
UsdAttribute MjcPhysicsKeyframe::CreateMjcQposAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsKeyframe::CreateMjcQposAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcQpos, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcQpos, SdfValueTypeNames->DoubleArray,
@@ -94,7 +94,7 @@ UsdAttribute MjcPhysicsKeyframe::GetMjcQvelAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQvel); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQvel);
} }
UsdAttribute MjcPhysicsKeyframe::CreateMjcQvelAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsKeyframe::CreateMjcQvelAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcQvel, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcQvel, SdfValueTypeNames->DoubleArray,
@@ -105,7 +105,7 @@ UsdAttribute MjcPhysicsKeyframe::GetMjcActAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcAct); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcAct);
} }
UsdAttribute MjcPhysicsKeyframe::CreateMjcActAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsKeyframe::CreateMjcActAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcAct, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcAct, SdfValueTypeNames->DoubleArray,
@@ -116,7 +116,7 @@ UsdAttribute MjcPhysicsKeyframe::GetMjcCtrlAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrl); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrl);
} }
UsdAttribute MjcPhysicsKeyframe::CreateMjcCtrlAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsKeyframe::CreateMjcCtrlAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrl, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcCtrl, SdfValueTypeNames->DoubleArray,
@@ -127,7 +127,7 @@ UsdAttribute MjcPhysicsKeyframe::GetMjcMposAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMpos); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMpos);
} }
UsdAttribute MjcPhysicsKeyframe::CreateMjcMposAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsKeyframe::CreateMjcMposAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMpos, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcMpos, SdfValueTypeNames->DoubleArray,
@@ -138,7 +138,7 @@ UsdAttribute MjcPhysicsKeyframe::GetMjcMquatAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMquat); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMquat);
} }
UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMquat, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcMquat, SdfValueTypeNames->DoubleArray,
@@ -147,7 +147,7 @@ UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const &defaultValue,
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -157,7 +157,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsKeyframe::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsKeyframe::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcQpos, MjcPhysicsTokens->mjcQvel, MjcPhysicsTokens->mjcQpos, MjcPhysicsTokens->mjcQvel,
src/experimental/usd/mjcPhysics/materialAPI.cpp
+10 -10
View File
@@ -30,8 +30,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsMaterialAPI::~MjcPhysicsMaterialAPI() {} MjcPhysicsMaterialAPI::~MjcPhysicsMaterialAPI() {}
/* static */ /* static */
MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Get(const UsdStagePtr &stage, MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsMaterialAPI(); return MjcPhysicsMaterialAPI();
@@ -45,12 +45,12 @@ UsdSchemaKind MjcPhysicsMaterialAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsMaterialAPI::CanApply(const UsdPrim &prim, std::string *whyNot) { bool MjcPhysicsMaterialAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsMaterialAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsMaterialAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Apply(const UsdPrim &prim) { MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Apply(const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsMaterialAPI>()) { if (prim.ApplyAPI<MjcPhysicsMaterialAPI>()) {
return MjcPhysicsMaterialAPI(prim); return MjcPhysicsMaterialAPI(prim);
} }
@@ -58,7 +58,7 @@ MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Apply(const UsdPrim &prim) {
} }
/* static */ /* static */
const TfType &MjcPhysicsMaterialAPI::_GetStaticTfType() { const TfType& MjcPhysicsMaterialAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsMaterialAPI>(); static TfType tfType = TfType::Find<MjcPhysicsMaterialAPI>();
return tfType; return tfType;
} }
@@ -70,7 +70,7 @@ bool MjcPhysicsMaterialAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsMaterialAPI::_GetTfType() const { const TfType& MjcPhysicsMaterialAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -79,7 +79,7 @@ UsdAttribute MjcPhysicsMaterialAPI::GetTorsionalFrictionAttr() const {
} }
UsdAttribute MjcPhysicsMaterialAPI::CreateTorsionalFrictionAttr( UsdAttribute MjcPhysicsMaterialAPI::CreateTorsionalFrictionAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcTorsionalfriction, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcTorsionalfriction, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -90,7 +90,7 @@ UsdAttribute MjcPhysicsMaterialAPI::GetRollingFrictionAttr() const {
} }
UsdAttribute MjcPhysicsMaterialAPI::CreateRollingFrictionAttr( UsdAttribute MjcPhysicsMaterialAPI::CreateRollingFrictionAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcRollingfriction, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcRollingfriction, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -98,7 +98,7 @@ UsdAttribute MjcPhysicsMaterialAPI::CreateRollingFrictionAttr(
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -108,7 +108,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsMaterialAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsMaterialAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcTorsionalfriction, MjcPhysicsTokens->mjcTorsionalfriction,
src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
+10 -10
View File
@@ -32,7 +32,7 @@ MjcPhysicsMeshCollisionAPI::~MjcPhysicsMeshCollisionAPI() {}
/* static */ /* static */
MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Get( MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Get(
const UsdStagePtr &stage, const SdfPath &path) { const UsdStagePtr& stage, const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsMeshCollisionAPI(); return MjcPhysicsMeshCollisionAPI();
@@ -46,14 +46,14 @@ UsdSchemaKind MjcPhysicsMeshCollisionAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsMeshCollisionAPI::CanApply(const UsdPrim &prim, bool MjcPhysicsMeshCollisionAPI::CanApply(const UsdPrim& prim,
std::string *whyNot) { std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsMeshCollisionAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsMeshCollisionAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Apply( MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Apply(
const UsdPrim &prim) { const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsMeshCollisionAPI>()) { if (prim.ApplyAPI<MjcPhysicsMeshCollisionAPI>()) {
return MjcPhysicsMeshCollisionAPI(prim); return MjcPhysicsMeshCollisionAPI(prim);
} }
@@ -61,7 +61,7 @@ MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Apply(
} }
/* static */ /* static */
const TfType &MjcPhysicsMeshCollisionAPI::_GetStaticTfType() { const TfType& MjcPhysicsMeshCollisionAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsMeshCollisionAPI>(); static TfType tfType = TfType::Find<MjcPhysicsMeshCollisionAPI>();
return tfType; return tfType;
} }
@@ -73,7 +73,7 @@ bool MjcPhysicsMeshCollisionAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsMeshCollisionAPI::_GetTfType() const { const TfType& MjcPhysicsMeshCollisionAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -82,7 +82,7 @@ UsdAttribute MjcPhysicsMeshCollisionAPI::GetInertiaAttr() const {
} }
UsdAttribute MjcPhysicsMeshCollisionAPI::CreateInertiaAttr( UsdAttribute MjcPhysicsMeshCollisionAPI::CreateInertiaAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcInertia, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcInertia, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -93,7 +93,7 @@ UsdAttribute MjcPhysicsMeshCollisionAPI::GetMaxHullVertAttr() const {
} }
UsdAttribute MjcPhysicsMeshCollisionAPI::CreateMaxHullVertAttr( UsdAttribute MjcPhysicsMeshCollisionAPI::CreateMaxHullVertAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMaxhullvert, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcMaxhullvert, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -101,7 +101,7 @@ UsdAttribute MjcPhysicsMeshCollisionAPI::CreateMaxHullVertAttr(
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -111,7 +111,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsMeshCollisionAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsMeshCollisionAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcInertia, MjcPhysicsTokens->mjcInertia,
src/experimental/usd/mjcPhysics/sceneAPI.cpp
+71 -71
View File
@@ -30,8 +30,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsSceneAPI::~MjcPhysicsSceneAPI() {} MjcPhysicsSceneAPI::~MjcPhysicsSceneAPI() {}
/* static */ /* static */
MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Get(const UsdStagePtr &stage, MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsSceneAPI(); return MjcPhysicsSceneAPI();
@@ -45,12 +45,12 @@ UsdSchemaKind MjcPhysicsSceneAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsSceneAPI::CanApply(const UsdPrim &prim, std::string *whyNot) { bool MjcPhysicsSceneAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsSceneAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsSceneAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Apply(const UsdPrim &prim) { MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Apply(const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsSceneAPI>()) { if (prim.ApplyAPI<MjcPhysicsSceneAPI>()) {
return MjcPhysicsSceneAPI(prim); return MjcPhysicsSceneAPI(prim);
} }
@@ -58,7 +58,7 @@ MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Apply(const UsdPrim &prim) {
} }
/* static */ /* static */
const TfType &MjcPhysicsSceneAPI::_GetStaticTfType() { const TfType& MjcPhysicsSceneAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsSceneAPI>(); static TfType tfType = TfType::Find<MjcPhysicsSceneAPI>();
return tfType; return tfType;
} }
@@ -70,7 +70,7 @@ bool MjcPhysicsSceneAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsSceneAPI::_GetTfType() const { const TfType& MjcPhysicsSceneAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -78,7 +78,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetTimestepAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTimestep); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTimestep);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionTimestep, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionTimestep, SdfValueTypeNames->Double,
@@ -89,7 +89,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetApiRateAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionApirate); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionApirate);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateApiRateAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateApiRateAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionApirate, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionApirate, SdfValueTypeNames->Double,
@@ -100,7 +100,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetImpRatioAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionImpratio); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionImpratio);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateImpRatioAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateImpRatioAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionImpratio, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionImpratio, SdfValueTypeNames->Double,
@@ -111,7 +111,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetWindAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionWind); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionWind);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateWindAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateWindAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionWind, SdfValueTypeNames->Double3, MjcPhysicsTokens->mjcOptionWind, SdfValueTypeNames->Double3,
@@ -122,7 +122,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetMagneticAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionMagnetic); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionMagnetic);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateMagneticAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateMagneticAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionMagnetic, SdfValueTypeNames->Double3, MjcPhysicsTokens->mjcOptionMagnetic, SdfValueTypeNames->Double3,
@@ -133,7 +133,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetDensityAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionDensity); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionDensity);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateDensityAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateDensityAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionDensity, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionDensity, SdfValueTypeNames->Double,
@@ -145,7 +145,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetViscosityAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateViscosityAttr( UsdAttribute MjcPhysicsSceneAPI::CreateViscosityAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionViscosity, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionViscosity, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -155,7 +155,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetOMarginAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_margin); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_margin);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateOMarginAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateOMarginAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionO_margin, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionO_margin, SdfValueTypeNames->Double,
@@ -166,7 +166,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetOSolRefAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solref); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solref);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateOSolRefAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateOSolRefAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionO_solref, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcOptionO_solref, SdfValueTypeNames->DoubleArray,
@@ -177,7 +177,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetOSolImpAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solimp); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solimp);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateOSolImpAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateOSolImpAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionO_solimp, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcOptionO_solimp, SdfValueTypeNames->DoubleArray,
@@ -189,7 +189,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetOFrictionAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateOFrictionAttr( UsdAttribute MjcPhysicsSceneAPI::CreateOFrictionAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionO_friction, SdfValueTypeNames->DoubleArray, MjcPhysicsTokens->mjcOptionO_friction, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -200,7 +200,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetIntegratorAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateIntegratorAttr( UsdAttribute MjcPhysicsSceneAPI::CreateIntegratorAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionIntegrator, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcOptionIntegrator, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -210,7 +210,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetConeAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCone); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCone);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateConeAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateConeAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionCone, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcOptionCone, SdfValueTypeNames->Token,
@@ -221,7 +221,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetJacobianAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionJacobian); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionJacobian);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateJacobianAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateJacobianAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionJacobian, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcOptionJacobian, SdfValueTypeNames->Token,
@@ -232,7 +232,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetSolverAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSolver); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSolver);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateSolverAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateSolverAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionSolver, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcOptionSolver, SdfValueTypeNames->Token,
@@ -244,7 +244,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetIterationsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateIterationsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionIterations, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcOptionIterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -255,7 +255,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetToleranceAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateToleranceAttr( UsdAttribute MjcPhysicsSceneAPI::CreateToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionTolerance, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionTolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -266,7 +266,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetLSIterationsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateLSIterationsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateLSIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionLs_iterations, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcOptionLs_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -277,7 +277,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetLSToleranceAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateLSToleranceAttr( UsdAttribute MjcPhysicsSceneAPI::CreateLSToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionLs_tolerance, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionLs_tolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -288,7 +288,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetNoslipIterationsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateNoslipIterationsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateNoslipIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionNoslip_iterations, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcOptionNoslip_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -299,7 +299,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetNoslipToleranceAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateNoslipToleranceAttr( UsdAttribute MjcPhysicsSceneAPI::CreateNoslipToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionNoslip_tolerance, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionNoslip_tolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -310,7 +310,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetCCDIterationsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateCCDIterationsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateCCDIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionCcd_iterations, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcOptionCcd_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -321,7 +321,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetCCDToleranceAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateCCDToleranceAttr( UsdAttribute MjcPhysicsSceneAPI::CreateCCDToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionCcd_tolerance, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcOptionCcd_tolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -332,7 +332,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetSDFIterationsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateSDFIterationsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateSDFIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionSdf_iterations, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcOptionSdf_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -343,7 +343,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetSDFInitPointsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateSDFInitPointsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateSDFInitPointsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionSdf_initpoints, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcOptionSdf_initpoints, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -355,7 +355,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetActuatorGroupDisableAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateActuatorGroupDisableAttr( UsdAttribute MjcPhysicsSceneAPI::CreateActuatorGroupDisableAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcOptionActuatorgroupdisable, MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
SdfValueTypeNames->IntArray, SdfValueTypeNames->IntArray,
@@ -367,7 +367,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetConstraintFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateConstraintFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateConstraintFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagConstraint, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagConstraint, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -378,7 +378,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetEqualityFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateEqualityFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateEqualityFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagEquality, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagEquality, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -389,7 +389,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetFrictionLossFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateFrictionLossFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateFrictionLossFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagFrictionloss, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagFrictionloss, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -400,7 +400,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetLimitFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateLimitFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateLimitFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagLimit, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagLimit, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -411,7 +411,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetContactFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateContactFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateContactFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagContact, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagContact, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -422,7 +422,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetPassiveFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreatePassiveFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreatePassiveFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagPassive, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagPassive, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -433,7 +433,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetGravityFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateGravityFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateGravityFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagGravity, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagGravity, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -444,7 +444,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetClampCtrlFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateClampCtrlFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateClampCtrlFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagClampctrl, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagClampctrl, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -455,7 +455,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetWarmStartFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateWarmStartFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateWarmStartFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagWarmstart, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagWarmstart, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -466,7 +466,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetFilterParentFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateFilterParentFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateFilterParentFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagFilterparent, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagFilterparent, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -477,7 +477,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetActuationFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateActuationFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateActuationFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagActuation, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagActuation, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -488,7 +488,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetRefSafeFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateRefSafeFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateRefSafeFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagRefsafe, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagRefsafe, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -499,7 +499,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetSensorFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateSensorFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateSensorFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagSensor, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagSensor, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -510,7 +510,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetMidPhaseFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateMidPhaseFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateMidPhaseFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagMidphase, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagMidphase, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -521,7 +521,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetNativeCCDFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateNativeCCDFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateNativeCCDFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagNativeccd, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagNativeccd, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -532,7 +532,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetEulerDampFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateEulerDampFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateEulerDampFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagEulerdamp, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagEulerdamp, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -543,7 +543,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetAutoResetFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateAutoResetFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateAutoResetFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagAutoreset, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagAutoreset, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -554,7 +554,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetOverrideFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateOverrideFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateOverrideFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagOverride, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagOverride, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -565,7 +565,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetEnergyFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateEnergyFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateEnergyFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagEnergy, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagEnergy, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -576,7 +576,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetFwdinvFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateFwdinvFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateFwdinvFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagFwdinv, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagFwdinv, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -587,7 +587,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetInvDiscreteFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateInvDiscreteFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateInvDiscreteFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagInvdiscrete, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagInvdiscrete, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -598,7 +598,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetMultiCCDFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateMultiCCDFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateMultiCCDFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagMulticcd, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagMulticcd, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -609,7 +609,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetIslandFlagAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateIslandFlagAttr( UsdAttribute MjcPhysicsSceneAPI::CreateIslandFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcFlagIsland, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcFlagIsland, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -620,7 +620,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetAutoLimitsAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateAutoLimitsAttr( UsdAttribute MjcPhysicsSceneAPI::CreateAutoLimitsAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerAutoLimits, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerAutoLimits, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -631,7 +631,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetBoundMassAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateBoundMassAttr( UsdAttribute MjcPhysicsSceneAPI::CreateBoundMassAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerBoundMass, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcCompilerBoundMass, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -642,7 +642,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetBoundInertiaAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateBoundInertiaAttr( UsdAttribute MjcPhysicsSceneAPI::CreateBoundInertiaAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerBoundInertia, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcCompilerBoundInertia, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -653,7 +653,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetSetTotalMassAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateSetTotalMassAttr( UsdAttribute MjcPhysicsSceneAPI::CreateSetTotalMassAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerSetTotalMass, SdfValueTypeNames->Double, MjcPhysicsTokens->mjcCompilerSetTotalMass, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -664,7 +664,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetUseThreadAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateUseThreadAttr( UsdAttribute MjcPhysicsSceneAPI::CreateUseThreadAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerUseThread, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerUseThread, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -675,7 +675,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetBalanceInertiaAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateBalanceInertiaAttr( UsdAttribute MjcPhysicsSceneAPI::CreateBalanceInertiaAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerBalanceInertia, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerBalanceInertia, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -685,7 +685,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetAngleAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerAngle); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerAngle);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateAngleAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateAngleAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerAngle, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcCompilerAngle, SdfValueTypeNames->Token,
@@ -696,7 +696,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetFitAABBAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerFitAABB); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerFitAABB);
} }
UsdAttribute MjcPhysicsSceneAPI::CreateFitAABBAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSceneAPI::CreateFitAABBAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerFitAABB, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerFitAABB, SdfValueTypeNames->Bool,
@@ -708,7 +708,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetFuseStaticAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateFuseStaticAttr( UsdAttribute MjcPhysicsSceneAPI::CreateFuseStaticAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerFuseStatic, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerFuseStatic, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -719,7 +719,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetInertiaFromGeomAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateInertiaFromGeomAttr( UsdAttribute MjcPhysicsSceneAPI::CreateInertiaFromGeomAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerInertiaFromGeom, SdfValueTypeNames->Token, MjcPhysicsTokens->mjcCompilerInertiaFromGeom, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -730,7 +730,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetAlignFreeAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateAlignFreeAttr( UsdAttribute MjcPhysicsSceneAPI::CreateAlignFreeAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerAlignFree, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerAlignFree, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -742,7 +742,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetInertiaGroupRangeMinAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateInertiaGroupRangeMinAttr( UsdAttribute MjcPhysicsSceneAPI::CreateInertiaGroupRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMin, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMin, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -754,7 +754,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetInertiaGroupRangeMaxAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateInertiaGroupRangeMaxAttr( UsdAttribute MjcPhysicsSceneAPI::CreateInertiaGroupRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMax, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMax, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -765,7 +765,7 @@ UsdAttribute MjcPhysicsSceneAPI::GetSaveInertialAttr() const {
} }
UsdAttribute MjcPhysicsSceneAPI::CreateSaveInertialAttr( UsdAttribute MjcPhysicsSceneAPI::CreateSaveInertialAttr(
VtValue const &defaultValue, bool writeSparsely) const { VtValue const& defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCompilerSaveInertial, SdfValueTypeNames->Bool, MjcPhysicsTokens->mjcCompilerSaveInertial, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely); /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
@@ -773,7 +773,7 @@ UsdAttribute MjcPhysicsSceneAPI::CreateSaveInertialAttr(
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -783,7 +783,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsSceneAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsSceneAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcOptionTimestep, MjcPhysicsTokens->mjcOptionTimestep,
src/experimental/usd/mjcPhysics/siteAPI.cpp
+9 -9
View File
@@ -30,8 +30,8 @@ TF_REGISTRY_FUNCTION(TfType) {
MjcPhysicsSiteAPI::~MjcPhysicsSiteAPI() {} MjcPhysicsSiteAPI::~MjcPhysicsSiteAPI() {}
/* static */ /* static */
MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Get(const UsdStagePtr &stage, MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Get(const UsdStagePtr& stage,
const SdfPath &path) { const SdfPath& path) {
if (!stage) { if (!stage) {
TF_CODING_ERROR("Invalid stage"); TF_CODING_ERROR("Invalid stage");
return MjcPhysicsSiteAPI(); return MjcPhysicsSiteAPI();
@@ -45,12 +45,12 @@ UsdSchemaKind MjcPhysicsSiteAPI::_GetSchemaKind() const {
} }
/* static */ /* static */
bool MjcPhysicsSiteAPI::CanApply(const UsdPrim &prim, std::string *whyNot) { bool MjcPhysicsSiteAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
return prim.CanApplyAPI<MjcPhysicsSiteAPI>(whyNot); return prim.CanApplyAPI<MjcPhysicsSiteAPI>(whyNot);
} }
/* static */ /* static */
MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim &prim) { MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim& prim) {
if (prim.ApplyAPI<MjcPhysicsSiteAPI>()) { if (prim.ApplyAPI<MjcPhysicsSiteAPI>()) {
return MjcPhysicsSiteAPI(prim); return MjcPhysicsSiteAPI(prim);
} }
@@ -58,7 +58,7 @@ MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim &prim) {
} }
/* static */ /* static */
const TfType &MjcPhysicsSiteAPI::_GetStaticTfType() { const TfType& MjcPhysicsSiteAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsSiteAPI>(); static TfType tfType = TfType::Find<MjcPhysicsSiteAPI>();
return tfType; return tfType;
} }
@@ -70,7 +70,7 @@ bool MjcPhysicsSiteAPI::_IsTypedSchema() {
} }
/* virtual */ /* virtual */
const TfType &MjcPhysicsSiteAPI::_GetTfType() const { const TfType& MjcPhysicsSiteAPI::_GetTfType() const {
return _GetStaticTfType(); return _GetStaticTfType();
} }
@@ -78,7 +78,7 @@ UsdAttribute MjcPhysicsSiteAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup); return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
} }
UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const &defaultValue, UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const& defaultValue,
bool writeSparsely) const { bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr( return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int, MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
@@ -87,7 +87,7 @@ UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const &defaultValue,
namespace { namespace {
static inline TfTokenVector _ConcatenateAttributeNames( static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) { const TfTokenVector& left, const TfTokenVector& right) {
TfTokenVector result; TfTokenVector result;
result.reserve(left.size() + right.size()); result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end()); result.insert(result.end(), left.begin(), left.end());
@@ -97,7 +97,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace } // namespace
/*static*/ /*static*/
const TfTokenVector &MjcPhysicsSiteAPI::GetSchemaAttributeNames( const TfTokenVector& MjcPhysicsSiteAPI::GetSchemaAttributeNames(
bool includeInherited) { bool includeInherited) {
static TfTokenVector localNames = { static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcGroup,