Sam Haves
0a5da8db22
PiperOrigin-RevId: 758708231 Change-Id: I75914ba52159996515547aa9e2e93690cadbfc66
333 lines
9.9 KiB
C++
333 lines
9.9 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MJCPHYSICS_TOKENS_H
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#define MJCPHYSICS_TOKENS_H
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/// \file mjcPhysics/tokens.h
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// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
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//
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// This is an automatically generated file (by usdGenSchema.py).
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// Do not hand-edit!
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//
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// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
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#include <vector>
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#include "./api.h"
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#include "pxr/base/tf/staticData.h"
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#include "pxr/base/tf/token.h"
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#include "pxr/pxr.h"
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PXR_NAMESPACE_OPEN_SCOPE
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/// \class MjcPhysicsTokensType
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///
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/// \link MjcPhysicsTokens \endlink provides static, efficient
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/// \link TfToken TfTokens\endlink for use in all public USD API.
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///
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/// These tokens are auto-generated from the module's schema, representing
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/// property names, for when you need to fetch an attribute or relationship
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/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
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/// manner, and allow the compiler to verify that you spelled the name
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/// correctly.
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///
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/// MjcPhysicsTokens also contains all of the \em allowedTokens values
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/// declared for schema builtin attributes of 'token' scene description type.
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/// Use MjcPhysicsTokens like so:
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///
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/// \code
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/// gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->auto_);
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/// \endcode
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struct MjcPhysicsTokensType {
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MJCPHYSICS_API MjcPhysicsTokensType();
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/// \brief "auto"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
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/// represents the auto constraint Jacobian and matrices computed from it.
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const TfToken auto_;
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/// \brief "cg"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
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/// represents the CG constraint solver algorithm.
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const TfToken cg;
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/// \brief "dense"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
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/// represents the dense constraint Jacobian and matrices computed from it.
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const TfToken dense;
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/// \brief "elliptic"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetConeAttr(), This token
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/// represents the elliptic contact friction cone type.
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const TfToken elliptic;
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/// \brief "euler"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the Euler numerical integrator.
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const TfToken euler;
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/// \brief "implicit"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the implicit numerical integrator.
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const TfToken implicit;
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/// \brief "implicitfast"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the implicitfast numerical integrator.
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const TfToken implicitfast;
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/// \brief "mjc:physics:actuatorgroupdisable"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsActuatorgroupdisable;
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/// \brief "mjc:physics:apirate"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsApirate;
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/// \brief "mjc:physics:ccd_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsCcd_iterations;
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/// \brief "mjc:physics:ccd_tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsCcd_tolerance;
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/// \brief "mjc:physics:cone"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsCone;
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/// \brief "mjc:physics:density"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsDensity;
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/// \brief "mjc:physics:flag:actuation"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagActuation;
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/// \brief "mjc:physics:flag:autoreset"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagAutoreset;
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/// \brief "mjc:physics:flag:clampctrl"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagClampctrl;
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/// \brief "mjc:physics:flag:constraint"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagConstraint;
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/// \brief "mjc:physics:flag:contact"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagContact;
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/// \brief "mjc:physics:flag:energy"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagEnergy;
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/// \brief "mjc:physics:flag:equality"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagEquality;
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/// \brief "mjc:physics:flag:eulerdamp"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagEulerdamp;
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/// \brief "mjc:physics:flag:filterparent"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagFilterparent;
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/// \brief "mjc:physics:flag:frictionloss"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagFrictionloss;
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/// \brief "mjc:physics:flag:fwdinv"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagFwdinv;
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/// \brief "mjc:physics:flag:gravity"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagGravity;
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/// \brief "mjc:physics:flag:invdiscrete"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagInvdiscrete;
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/// \brief "mjc:physics:flag:island"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagIsland;
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/// \brief "mjc:physics:flag:limit"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagLimit;
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/// \brief "mjc:physics:flag:midphase"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagMidphase;
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/// \brief "mjc:physics:flag:multiccd"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagMulticcd;
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/// \brief "mjc:physics:flag:nativeccd"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagNativeccd;
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/// \brief "mjc:physics:flag:override"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagOverride;
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/// \brief "mjc:physics:flag:passive"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagPassive;
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/// \brief "mjc:physics:flag:refsafe"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagRefsafe;
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/// \brief "mjc:physics:flag:sensor"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagSensor;
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/// \brief "mjc:physics:flag:warmstart"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsFlagWarmstart;
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/// \brief "mjc:physics:impratio"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsImpratio;
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/// \brief "mjc:physics:integrator"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsIntegrator;
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/// \brief "mjc:physics:iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsIterations;
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/// \brief "mjc:physics:jacobian"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsJacobian;
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/// \brief "mjc:physics:ls_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsLs_iterations;
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/// \brief "mjc:physics:ls_tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsLs_tolerance;
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/// \brief "mjc:physics:magnetic"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsMagnetic;
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/// \brief "mjc:physics:noslip_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsNoslip_iterations;
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/// \brief "mjc:physics:noslip_tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsNoslip_tolerance;
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/// \brief "mjc:physics:o_friction"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsO_friction;
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/// \brief "mjc:physics:o_margin"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsO_margin;
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/// \brief "mjc:physics:o_solimp"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsO_solimp;
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/// \brief "mjc:physics:o_solref"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsO_solref;
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/// \brief "mjc:physics:sdf_initpoints"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsSdf_initpoints;
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/// \brief "mjc:physics:sdf_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsSdf_iterations;
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/// \brief "mjc:physics:solver"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsSolver;
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/// \brief "mjc:physics:timestep"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsTimestep;
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/// \brief "mjc:physics:tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsTolerance;
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/// \brief "mjc:physics:viscosity"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsViscosity;
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/// \brief "mjc:physics:wind"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcPhysicsWind;
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/// \brief "newton"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
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/// represents the Newton constraint solver algorithm.
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const TfToken newton;
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/// \brief "pgs"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
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/// represents the PGS constraint solver algorithm.
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const TfToken pgs;
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/// \brief "pyramidal"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(), This token
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/// represents the pyramidal contact friction cone type.
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const TfToken pyramidal;
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/// \brief "rk4"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the RK4 numerical integrator.
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const TfToken rk4;
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/// \brief "sparse"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
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/// represents the sparse constraint Jacobian and matrices computed from it.
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const TfToken sparse;
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/// \brief "MjcPhysicsSceneAPI"
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///
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/// Schema identifer and family for MjcPhysicsSceneAPI
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const TfToken MjcPhysicsSceneAPI;
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/// \brief "MjcPhysicsSiteAPI"
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///
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/// Schema identifer and family for MjcPhysicsSiteAPI
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const TfToken MjcPhysicsSiteAPI;
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/// A vector of all of the tokens listed above.
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const std::vector<TfToken> allTokens;
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};
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/// \var MjcPhysicsTokens
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///
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/// A global variable with static, efficient \link TfToken TfTokens\endlink
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/// for use in all public USD API. \sa MjcPhysicsTokensType
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extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
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PXR_NAMESPACE_CLOSE_SCOPE
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#endif
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