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Mujoco_WASM/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
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Sam Haves 3473e4e451 Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints. 
PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
2025-07-11 05:37:41 -07:00

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// 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.
#ifndef MJCPHYSICS_GENERATED_SCENEAPI_H
#define MJCPHYSICS_GENERATED_SCENEAPI_H
/// \file mjcPhysics/sceneAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCSCENEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsSceneAPI
///
/// API providing global simulation options for MuJoCo.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
/// use MjcPhysicsTokens->rightHanded as the value.
///
class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsSceneAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsSceneAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsSceneAPI(const UsdPrim &prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsSceneAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsSceneAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsSceneAPI(const UsdSchemaBase &schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsSceneAPI();
/// 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 MjcPhysicsSceneAPI 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
/// MjcPhysicsSceneAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsSceneAPI Get(const UsdStagePtr &stage, const SdfPath &path);
/// 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,
/// 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 <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcSceneAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsSceneAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsSceneAPI 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 MjcPhysicsSceneAPI 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:
// --------------------------------------------------------------------- //
// TIMESTEP
// --------------------------------------------------------------------- //
/// Controls the timestep in seconds used by MuJoCo.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:timestep = 0.002` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetTimestepAttr() const;
/// See GetTimestepAttr(), 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 CreateTimestepAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// APIRATE
// --------------------------------------------------------------------- //
/// Determines the rate (in Hz) at which an external API allows
/// the update function to be executed.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:apirate = 100` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetApiRateAttr() const;
/// See GetApiRateAttr(), 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 CreateApiRateAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// IMPRATIO
// --------------------------------------------------------------------- //
/// Ratio of frictional-to-normal constraint impedance for elliptic
/// friction cones.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:impratio = 1` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetImpRatioAttr() const;
/// See GetImpRatioAttr(), 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 CreateImpRatioAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// WIND
// --------------------------------------------------------------------- //
/// Velocity vector of medium (i.e. wind).
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double3 mjc:option:wind = (0, 0, 0)` |
/// | C++ Type | GfVec3d |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetWindAttr() const;
/// See GetWindAttr(), 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 CreateWindAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MAGNETIC
// --------------------------------------------------------------------- //
/// Global magnetic flux.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double3 mjc:option:magnetic = (0, -0.5, 0)` |
/// | C++ Type | GfVec3d |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMagneticAttr() const;
/// See GetMagneticAttr(), 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 CreateMagneticAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// DENSITY
// --------------------------------------------------------------------- //
/// Density of medium.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:density = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetDensityAttr() const;
/// See GetDensityAttr(), 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 CreateDensityAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// VISCOSITY
// --------------------------------------------------------------------- //
/// Viscosity of medium.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:viscosity = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetViscosityAttr() const;
/// See GetViscosityAttr(), 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 CreateViscosityAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// OMARGIN
// --------------------------------------------------------------------- //
/// Replaces the margin parameter of all active contact pairs when
/// Contact override is enabled.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:o_margin = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetOMarginAttr() const;
/// See GetOMarginAttr(), 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 CreateOMarginAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// OSOLREF
// --------------------------------------------------------------------- //
/// Replaces the solref parameter of all active contact pairs when
/// Contact override is enabled.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:option:o_solref = [0.02, 1]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetOSolRefAttr() const;
/// See GetOSolRefAttr(), 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 CreateOSolRefAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// OSOLIMP
// --------------------------------------------------------------------- //
/// Replaces the solimp parameter of all active contact pairs when
/// Contact override is enabled.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001,
/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetOSolImpAttr() const;
/// See GetOSolImpAttr(), 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 CreateOSolImpAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// OFRICTION
// --------------------------------------------------------------------- //
/// Replaces the friction parameter of all active contact pairs when
/// Contact override is enabled.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:option:o_friction = [1, 1, 0.005,
/// 0.0001, 0.0001]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes
/// "Usd Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
/// "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetOFrictionAttr() const;
/// See GetOFrictionAttr(), 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 CreateOFrictionAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// INTEGRATOR
// --------------------------------------------------------------------- //
/// Numerical integrator to be used.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:option:integrator = "euler"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | euler, rk4, implicit,
/// implicitfast |
MJCPHYSICS_API
UsdAttribute GetIntegratorAttr() const;
/// See GetIntegratorAttr(), 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 CreateIntegratorAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CONE
// --------------------------------------------------------------------- //
/// The type of contact friction cone.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:option:cone = "pyramidal"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | pyramidal, elliptic |
MJCPHYSICS_API
UsdAttribute GetConeAttr() const;
/// See GetConeAttr(), 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 CreateConeAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// JACOBIAN
// --------------------------------------------------------------------- //
/// The type of constraint Jacobian and matrices computed from it.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:option:jacobian = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | auto, dense, sparse |
MJCPHYSICS_API
UsdAttribute GetJacobianAttr() const;
/// See GetJacobianAttr(), 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 CreateJacobianAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SOLVER
// --------------------------------------------------------------------- //
/// Constraint solver algorithm to be used.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:option:solver = "newton"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | pgs, cg, newton |
MJCPHYSICS_API
UsdAttribute GetSolverAttr() const;
/// See GetSolverAttr(), 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 CreateSolverAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// ITERATIONS
// --------------------------------------------------------------------- //
/// Maximum number of iterations of the constraint solver.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:option:iterations = 100` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetIterationsAttr() const;
/// See GetIterationsAttr(), 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 CreateIterationsAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// TOLERANCE
// --------------------------------------------------------------------- //
/// Tolerance threshold used for early termination of the iterative
/// solver.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:tolerance = 1e-8` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetToleranceAttr() const;
/// See GetToleranceAttr(), 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 CreateToleranceAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// LSITERATIONS
// --------------------------------------------------------------------- //
/// Maximum number of linesearch iterations performed by CG/Newton
/// constraint solvers.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:option:ls_iterations = 50` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetLSIterationsAttr() const;
/// See GetLSIterationsAttr(), 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 CreateLSIterationsAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// LSTOLERANCE
// --------------------------------------------------------------------- //
/// Tolerance threshold used for early termination of the linesearch
/// algorithm.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:ls_tolerance = 0.01` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetLSToleranceAttr() const;
/// See GetLSToleranceAttr(), 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 CreateLSToleranceAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// NOSLIPITERATIONS
// --------------------------------------------------------------------- //
/// Maximum number of iterations of the Noslip solver.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:option:noslip_iterations = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetNoslipIterationsAttr() const;
/// See GetNoslipIterationsAttr(), 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 CreateNoslipIterationsAttr(
VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// NOSLIPTOLERANCE
// --------------------------------------------------------------------- //
/// Tolerance threshold used for early termination of the Noslip solver.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:noslip_tolerance = 0.000001` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetNoslipToleranceAttr() const;
/// See GetNoslipToleranceAttr(), 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 CreateNoslipToleranceAttr(
VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CCDITERATIONS
// --------------------------------------------------------------------- //
/// Maximum number of iterations of the algorithm used for convex collisions.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:option:ccd_iterations = 50` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetCCDIterationsAttr() const;
/// See GetCCDIterationsAttr(), 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 CreateCCDIterationsAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CCDTOLERANCE
// --------------------------------------------------------------------- //
/// Tolerance threshold used for early termination of the convex
/// collision algorithm.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:option:ccd_tolerance = 0.000001` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetCCDToleranceAttr() const;
/// See GetCCDToleranceAttr(), 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 CreateCCDToleranceAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SDFITERATIONS
// --------------------------------------------------------------------- //
/// Number of iterations used for Signed Distance Field collisions
/// (per initial point).
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:option:sdf_iterations = 10` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetSDFIterationsAttr() const;
/// See GetSDFIterationsAttr(), 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 CreateSDFIterationsAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SDFINITPOINTS
// --------------------------------------------------------------------- //
/// Number of starting points used for finding contacts with Signed
/// Distance Field collisions.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:option:sdf_initpoints = 40` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetSDFInitPointsAttr() const;
/// See GetSDFInitPointsAttr(), 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 CreateSDFInitPointsAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// ACTUATORGROUPDISABLE
// --------------------------------------------------------------------- //
/// List of actuator groups to disable.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int[] mjc:option:actuatorgroupdisable = []` |
/// | C++ Type | VtArray<int> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetActuatorGroupDisableAttr() const;
/// See GetActuatorGroupDisableAttr(), 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 CreateActuatorGroupDisableAttr(
VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CONSTRAINTFLAG
// --------------------------------------------------------------------- //
/// Enables constraint solver.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:constraint = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetConstraintFlagAttr() const;
/// See GetConstraintFlagAttr(), 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 CreateConstraintFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// EQUALITYFLAG
// --------------------------------------------------------------------- //
/// Enables all standard computations related to equality constraints.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:equality = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetEqualityFlagAttr() const;
/// See GetEqualityFlagAttr(), 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 CreateEqualityFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// FRICTIONLOSSFLAG
// --------------------------------------------------------------------- //
/// Enables all standard computations related to friction loss constraints.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:frictionloss = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetFrictionLossFlagAttr() const;
/// See GetFrictionLossFlagAttr(), 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 CreateFrictionLossFlagAttr(
VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// LIMITFLAG
// --------------------------------------------------------------------- //
/// Enables all standard computations related to joint and tendon limit
/// constraints.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:limit = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetLimitFlagAttr() const;
/// See GetLimitFlagAttr(), 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 CreateLimitFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CONTACTFLAG
// --------------------------------------------------------------------- //
/// Enables collision detection and all standard computations related to
/// contact constraints.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:contact = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetContactFlagAttr() const;
/// See GetContactFlagAttr(), 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 CreateContactFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// PASSIVEFLAG
// --------------------------------------------------------------------- //
/// Enables the simulation of joint and tendon spring-dampers, fluid dynamics
/// forces, and custom passive forces.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:passive = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetPassiveFlagAttr() const;
/// See GetPassiveFlagAttr(), 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 CreatePassiveFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// GRAVITYFLAG
// --------------------------------------------------------------------- //
/// Enables the application of gravitational acceleration as defined in
/// mjOption.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:gravity = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGravityFlagAttr() const;
/// See GetGravityFlagAttr(), 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 CreateGravityFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CLAMPCTRLFLAG
// --------------------------------------------------------------------- //
/// Enables the clamping of control inputs to all actuators, according to
/// actuator-specific attributes.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:clampctrl = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetClampCtrlFlagAttr() const;
/// See GetClampCtrlFlagAttr(), 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 CreateClampCtrlFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// WARMSTARTFLAG
// --------------------------------------------------------------------- //
/// Enables warm-starting of the constraint solver, using the solution from
/// the previous time step to initialize the iterative optimization.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:warmstart = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetWarmStartFlagAttr() const;
/// See GetWarmStartFlagAttr(), 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 CreateWarmStartFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// FILTERPARENTFLAG
// --------------------------------------------------------------------- //
/// Enables the filtering of contact pairs where the two geoms belong to a
/// parent and child body.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:filterparent = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetFilterParentFlagAttr() const;
/// See GetFilterParentFlagAttr(), 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 CreateFilterParentFlagAttr(
VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// ACTUATIONFLAG
// --------------------------------------------------------------------- //
/// Enables all standard computations related to actuator forces, including
/// actuator dynamics.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:actuation = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetActuationFlagAttr() const;
/// See GetActuationFlagAttr(), 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 CreateActuationFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// REFSAFEFLAG
// --------------------------------------------------------------------- //
/// Enables a safety mechanism that prevents instabilities due to solref[0]
/// being too small compared to the simulation timestep.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:refsafe = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetRefSafeFlagAttr() const;
/// See GetRefSafeFlagAttr(), 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 CreateRefSafeFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SENSORFLAG
// --------------------------------------------------------------------- //
/// Enables all computations related to sensors.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:sensor = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetSensorFlagAttr() const;
/// See GetSensorFlagAttr(), 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 CreateSensorFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MIDPHASEFLAG
// --------------------------------------------------------------------- //
/// Enables mid-phase collision filtering using a static AABB bounding volume
/// hierarchy (BVH).
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:midphase = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMidPhaseFlagAttr() const;
/// See GetMidPhaseFlagAttr(), 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 CreateMidPhaseFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// NATIVECCDFLAG
// --------------------------------------------------------------------- //
/// Enables the native convex collision detection pipeline instead of using
/// the libccd library.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:nativeccd = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetNativeCCDFlagAttr() const;
/// See GetNativeCCDFlagAttr(), 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 CreateNativeCCDFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// EULERDAMPFLAG
// --------------------------------------------------------------------- //
/// Enables implicit integration with respect to joint damping in the Euler
/// integrator.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:eulerdamp = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetEulerDampFlagAttr() const;
/// See GetEulerDampFlagAttr(), 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 CreateEulerDampFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// AUTORESETFLAG
// --------------------------------------------------------------------- //
/// Enables the automatic resetting of the simulation state when numerical
/// issues are detected.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:autoreset = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetAutoResetFlagAttr() const;
/// See GetAutoResetFlagAttr(), 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 CreateAutoResetFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// OVERRIDEFLAG
// --------------------------------------------------------------------- //
/// Enables the contact override mechanism.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:override = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetOverrideFlagAttr() const;
/// See GetOverrideFlagAttr(), 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 CreateOverrideFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// ENERGYFLAG
// --------------------------------------------------------------------- //
/// Enables the computation of potential and kinetic energy
/// (mjData.energy[0,1]).
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:energy = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetEnergyFlagAttr() const;
/// See GetEnergyFlagAttr(), 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 CreateEnergyFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// FWDINVFLAG
// --------------------------------------------------------------------- //
/// Enables the automatic comparison of forward and inverse dynamics.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:fwdinv = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetFwdinvFlagAttr() const;
/// See GetFwdinvFlagAttr(), 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 CreateFwdinvFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// INVDISCRETEFLAG
// --------------------------------------------------------------------- //
/// Enables discrete-time inverse dynamics with mj_inverse for integrators
/// other than RK4.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:invdiscrete = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetInvDiscreteFlagAttr() const;
/// See GetInvDiscreteFlagAttr(), 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 CreateInvDiscreteFlagAttr(
VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MULTICCDFLAG
// --------------------------------------------------------------------- //
/// Enables multiple-contact collision detection for geom pairs using a
/// general-purpose convex-convex collider.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:multiccd = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMultiCCDFlagAttr() const;
/// See GetMultiCCDFlagAttr(), 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 CreateMultiCCDFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// ISLANDFLAG
// --------------------------------------------------------------------- //
/// Enables the discovery of constraint islands.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:island = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetIslandFlagAttr() const;
/// See GetIslandFlagAttr(), 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 CreateIslandFlagAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) 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
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