// Copyright 2025 DeepMind Technologies Limited // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. // DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED. #ifndef MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H #define MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H /// \file mjcPhysics/equalityJointAPI.h #include #include #include #include #include #include #include #include #include #include #include #include PXR_NAMESPACE_OPEN_SCOPE class SdfAssetPath; // -------------------------------------------------------------------------- // // MJCEQUALITYJOINTAPI // // -------------------------------------------------------------------------- // /// \class MjcPhysicsEqualityJointAPI /// /// API providing extension attributes to represent equality/joint constraints. /// /// This API is applied to a joint prim which acts as the follower (joint0). The /// leader joint (joint1) is specified via the newton:mimicJoint relationship /// inherited from NewtonMimicAPI. /// /// The follower's position or angle is constrained to be a quartic polynomial /// of the leader's position or angle: joint0 = coef0 + coef1*(joint1) + /// coef2*(joint1)^2 + coef3*(joint1)^3 + coef4*(joint1)^4 /// /// The constant (coef0) and linear (coef1) coefficients are provided by /// NewtonMimicAPI as newton:mimicCoef0 and newton:mimicCoef1. The higher-order /// coefficients (coef2-coef4) are provided by this API. /// /// Only scalar joint types (slide and hinge) can be used. /// class MjcPhysicsEqualityJointAPI : public UsdAPISchemaBase { public: /// Compile time constant representing what kind of schema this class is. /// /// \sa UsdSchemaKind static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI; /// Construct a MjcPhysicsEqualityJointAPI on UsdPrim \p prim . /// Equivalent to MjcPhysicsEqualityJointAPI::Get(prim.GetStage(), /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an /// error for an invalid \p prim explicit MjcPhysicsEqualityJointAPI(const UsdPrim& prim = UsdPrim()) : UsdAPISchemaBase(prim) {} /// Construct a MjcPhysicsEqualityJointAPI on the prim held by \p schemaObj . /// Should be preferred over MjcPhysicsEqualityJointAPI(schemaObj.GetPrim()), /// as it preserves SchemaBase state. explicit MjcPhysicsEqualityJointAPI(const UsdSchemaBase& schemaObj) : UsdAPISchemaBase(schemaObj) {} /// Destructor. MJCPHYSICS_API virtual ~MjcPhysicsEqualityJointAPI(); /// Return a vector of names of all pre-declared attributes for this schema /// class and all its ancestor classes. Does not include attributes that /// may be authored by custom/extended methods of the schemas involved. MJCPHYSICS_API static const TfTokenVector& GetSchemaAttributeNames( bool includeInherited = true); /// Return a MjcPhysicsEqualityJointAPI holding the prim adhering to this /// schema at \p path on \p stage. If no prim exists at \p path on /// \p stage, or if the prim at that path does not adhere to this schema, /// return an invalid schema object. This is shorthand for the following: /// /// \code /// MjcPhysicsEqualityJointAPI(stage->GetPrimAtPath(path)); /// \endcode /// MJCPHYSICS_API static MjcPhysicsEqualityJointAPI Get(const UsdStagePtr& stage, const SdfPath& path); /// Returns true if this single-apply API schema can be applied to /// the given \p prim. If this schema can not be a applied to the prim, /// this returns false and, if provided, populates \p whyNot with the /// reason it can not be applied. /// /// Note that if CanApply returns false, that does not necessarily imply /// that calling Apply will fail. Callers are expected to call CanApply /// before calling Apply if they want to ensure that it is valid to /// apply a schema. /// /// \sa UsdPrim::GetAppliedSchemas() /// \sa UsdPrim::HasAPI() /// \sa UsdPrim::CanApplyAPI() /// \sa UsdPrim::ApplyAPI() /// \sa UsdPrim::RemoveAPI() /// MJCPHYSICS_API static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr); /// Applies this single-apply API schema to the given \p prim. /// This information is stored by adding "MjcEqualityJointAPI" to the /// token-valued, listOp metadata \em apiSchemas on the prim. /// /// \return A valid MjcPhysicsEqualityJointAPI object is returned upon /// success. An invalid (or empty) MjcPhysicsEqualityJointAPI object is /// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions /// resulting in failure. /// /// \sa UsdPrim::GetAppliedSchemas() /// \sa UsdPrim::HasAPI() /// \sa UsdPrim::CanApplyAPI() /// \sa UsdPrim::ApplyAPI() /// \sa UsdPrim::RemoveAPI() /// MJCPHYSICS_API static MjcPhysicsEqualityJointAPI Apply(const UsdPrim& prim); protected: /// Returns the kind of schema this class belongs to. /// /// \sa UsdSchemaKind MJCPHYSICS_API UsdSchemaKind _GetSchemaKind() const override; private: // needs to invoke _GetStaticTfType. friend class UsdSchemaRegistry; MJCPHYSICS_API static const TfType& _GetStaticTfType(); static bool _IsTypedSchema(); // override SchemaBase virtuals. MJCPHYSICS_API const TfType& _GetTfType() const override; public: // --------------------------------------------------------------------- // // SOLIMP // --------------------------------------------------------------------- // /// Constraint solver parameter for equality constraint simulation. /// /// | || /// | -- | -- | /// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]` /// | | C++ Type | VtArray | | \ref Usd_Datatypes "Usd Type" | /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" | /// SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetSolImpAttr() const; /// See GetSolImpAttr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // SOLREF // --------------------------------------------------------------------- // /// Constraint solver parameter for equality constraint simulation. /// /// | || /// | -- | -- | /// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` | /// | C++ Type | VtArray | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetSolRefAttr() const; /// See GetSolRefAttr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // COEF0 // --------------------------------------------------------------------- // /// DEPRECATED: Use newton:mimicCoef0 instead. /// /// Constant coefficient a0 of the quartic polynomial. The constraint is: /// y = y0 + a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4. /// /// | || /// | -- | -- | /// | Declaration | `uniform double mjc:coef0 = 0` | /// | C++ Type | double | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetCoef0Attr() const; /// See GetCoef0Attr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateCoef0Attr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // COEF1 // --------------------------------------------------------------------- // /// DEPRECATED: Use newton:mimicCoef1 instead. /// /// Linear coefficient a1 of the quartic polynomial. /// /// | || /// | -- | -- | /// | Declaration | `uniform double mjc:coef1 = 1` | /// | C++ Type | double | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetCoef1Attr() const; /// See GetCoef1Attr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateCoef1Attr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // COEF2 // --------------------------------------------------------------------- // /// Quadratic coefficient a2 of the quartic polynomial. /// /// | || /// | -- | -- | /// | Declaration | `uniform double mjc:coef2 = 0` | /// | C++ Type | double | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetCoef2Attr() const; /// See GetCoef2Attr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateCoef2Attr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // COEF3 // --------------------------------------------------------------------- // /// Cubic coefficient a3 of the quartic polynomial. /// /// | || /// | -- | -- | /// | Declaration | `uniform double mjc:coef3 = 0` | /// | C++ Type | double | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetCoef3Attr() const; /// See GetCoef3Attr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateCoef3Attr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // COEF4 // --------------------------------------------------------------------- // /// Quartic coefficient a4 of the quartic polynomial. /// /// | || /// | -- | -- | /// | Declaration | `uniform double mjc:coef4 = 0` | /// | C++ Type | double | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | MJCPHYSICS_API UsdAttribute GetCoef4Attr() const; /// See GetCoef4Attr(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create. /// If specified, author \p defaultValue as the attribute's default, /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true - /// the default for \p writeSparsely is \c false. MJCPHYSICS_API UsdAttribute CreateCoef4Attr(VtValue const& defaultValue = VtValue(), bool writeSparsely = false) const; public: // --------------------------------------------------------------------- // // MJCTARGET // --------------------------------------------------------------------- // /// DEPRECATED: Use newton:mimicJoint instead. /// /// Secondary target of the equality constraint (the leader/reference joint). /// MJCPHYSICS_API UsdRelationship GetMjcTargetRel() const; /// See GetMjcTargetRel(), and also /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create MJCPHYSICS_API UsdRelationship CreateMjcTargetRel() const; public: // ===================================================================== // // Feel free to add custom code below this line, it will be preserved by // the code generator. // // Just remember to: // - Close the class declaration with }; // - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE // - Close the include guard with #endif // ===================================================================== // // --(BEGIN CUSTOM CODE)-- }; PXR_NAMESPACE_CLOSE_SCOPE #endif