Copybara-Service
15cbc8fb55
PiperOrigin-RevId: 925328794 Change-Id: If45b8659ea9b88785660331bca5ee837ac172f67
366 lines
14 KiB
C++
366 lines
14 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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// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
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#ifndef MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H
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#define MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H
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/// \file mjcPhysics/equalityJointAPI.h
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include <pxr/base/gf/matrix4d.h>
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/gf/vec3f.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/base/tf/type.h>
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#include <pxr/base/vt/value.h>
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#include <pxr/pxr.h>
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#include <pxr/usd/usd/apiSchemaBase.h>
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#include <pxr/usd/usd/prim.h>
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#include <pxr/usd/usd/stage.h>
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PXR_NAMESPACE_OPEN_SCOPE
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class SdfAssetPath;
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// -------------------------------------------------------------------------- //
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// MJCEQUALITYJOINTAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsEqualityJointAPI
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///
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/// API providing extension attributes to represent equality/joint constraints.
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///
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/// This API is applied to a joint prim which acts as the follower (joint0). The
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/// leader joint (joint1) is specified via the newton:mimicJoint relationship
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/// inherited from NewtonMimicAPI.
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///
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/// The follower's position or angle is constrained to be a quartic polynomial
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/// of the leader's position or angle: joint0 = coef0 + coef1*(joint1) +
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/// coef2*(joint1)^2 + coef3*(joint1)^3 + coef4*(joint1)^4
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///
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/// The constant (coef0) and linear (coef1) coefficients are provided by
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/// NewtonMimicAPI as newton:mimicCoef0 and newton:mimicCoef1. The higher-order
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/// coefficients (coef2-coef4) are provided by this API.
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///
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/// Only scalar joint types (slide and hinge) can be used.
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///
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class MjcPhysicsEqualityJointAPI : public UsdAPISchemaBase {
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public:
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/// Compile time constant representing what kind of schema this class is.
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///
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/// \sa UsdSchemaKind
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static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
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/// Construct a MjcPhysicsEqualityJointAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsEqualityJointAPI::Get(prim.GetStage(),
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/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
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/// error for an invalid \p prim
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explicit MjcPhysicsEqualityJointAPI(const UsdPrim& prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsEqualityJointAPI on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsEqualityJointAPI(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsEqualityJointAPI(const UsdSchemaBase& schemaObj)
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: UsdAPISchemaBase(schemaObj) {}
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/// Destructor.
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MJCPHYSICS_API
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virtual ~MjcPhysicsEqualityJointAPI();
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/// Return a vector of names of all pre-declared attributes for this schema
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/// class and all its ancestor classes. Does not include attributes that
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/// may be authored by custom/extended methods of the schemas involved.
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MJCPHYSICS_API
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static const TfTokenVector& GetSchemaAttributeNames(
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bool includeInherited = true);
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/// Return a MjcPhysicsEqualityJointAPI holding the prim adhering to this
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/// schema at \p path on \p stage. If no prim exists at \p path on
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/// \p stage, or if the prim at that path does not adhere to this schema,
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/// return an invalid schema object. This is shorthand for the following:
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///
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/// \code
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/// MjcPhysicsEqualityJointAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityJointAPI Get(const UsdStagePtr& stage,
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const SdfPath& path);
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/// Returns true if this <b>single-apply</b> API schema can be applied to
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/// the given \p prim. If this schema can not be a applied to the prim,
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/// this returns false and, if provided, populates \p whyNot with the
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/// reason it can not be applied.
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///
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/// Note that if CanApply returns false, that does not necessarily imply
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/// that calling Apply will fail. Callers are expected to call CanApply
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/// before calling Apply if they want to ensure that it is valid to
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/// apply a schema.
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///
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/// \sa UsdPrim::GetAppliedSchemas()
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/// \sa UsdPrim::HasAPI()
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/// \sa UsdPrim::CanApplyAPI()
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/// \sa UsdPrim::ApplyAPI()
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/// \sa UsdPrim::RemoveAPI()
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///
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MJCPHYSICS_API
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static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
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/// Applies this <b>single-apply</b> API schema to the given \p prim.
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/// This information is stored by adding "MjcEqualityJointAPI" to the
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/// token-valued, listOp metadata \em apiSchemas on the prim.
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///
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/// \return A valid MjcPhysicsEqualityJointAPI object is returned upon
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/// success. An invalid (or empty) MjcPhysicsEqualityJointAPI object is
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/// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
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/// resulting in failure.
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///
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/// \sa UsdPrim::GetAppliedSchemas()
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/// \sa UsdPrim::HasAPI()
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/// \sa UsdPrim::CanApplyAPI()
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/// \sa UsdPrim::ApplyAPI()
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/// \sa UsdPrim::RemoveAPI()
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityJointAPI Apply(const UsdPrim& prim);
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protected:
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/// Returns the kind of schema this class belongs to.
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///
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/// \sa UsdSchemaKind
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MJCPHYSICS_API
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UsdSchemaKind _GetSchemaKind() const override;
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private:
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// needs to invoke _GetStaticTfType.
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friend class UsdSchemaRegistry;
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MJCPHYSICS_API
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static const TfType& _GetStaticTfType();
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static bool _IsTypedSchema();
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// override SchemaBase virtuals.
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MJCPHYSICS_API
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const TfType& _GetTfType() const override;
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public:
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// --------------------------------------------------------------------- //
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// SOLIMP
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// --------------------------------------------------------------------- //
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/// Constraint solver parameter for equality constraint simulation.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
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/// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
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/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
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/// SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetSolImpAttr() const;
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/// See GetSolImpAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// SOLREF
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// --------------------------------------------------------------------- //
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/// Constraint solver parameter for equality constraint simulation.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetSolRefAttr() const;
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/// See GetSolRefAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// COEF0
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// --------------------------------------------------------------------- //
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/// DEPRECATED: Use newton:mimicCoef0 instead.
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///
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/// Constant coefficient a0 of the quartic polynomial. The constraint is:
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/// y = y0 + a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:coef0 = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetCoef0Attr() const;
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/// See GetCoef0Attr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateCoef0Attr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// COEF1
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// --------------------------------------------------------------------- //
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/// DEPRECATED: Use newton:mimicCoef1 instead.
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///
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/// Linear coefficient a1 of the quartic polynomial.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:coef1 = 1` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetCoef1Attr() const;
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/// See GetCoef1Attr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateCoef1Attr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// COEF2
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// --------------------------------------------------------------------- //
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/// Quadratic coefficient a2 of the quartic polynomial.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:coef2 = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetCoef2Attr() const;
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/// See GetCoef2Attr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateCoef2Attr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// COEF3
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// --------------------------------------------------------------------- //
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/// Cubic coefficient a3 of the quartic polynomial.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:coef3 = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetCoef3Attr() const;
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/// See GetCoef3Attr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateCoef3Attr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// COEF4
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// --------------------------------------------------------------------- //
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/// Quartic coefficient a4 of the quartic polynomial.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:coef4 = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetCoef4Attr() const;
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/// See GetCoef4Attr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateCoef4Attr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCTARGET
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// --------------------------------------------------------------------- //
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/// DEPRECATED: Use newton:mimicJoint instead.
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///
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/// Secondary target of the equality constraint (the leader/reference joint).
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///
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MJCPHYSICS_API
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UsdRelationship GetMjcTargetRel() const;
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/// See GetMjcTargetRel(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
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MJCPHYSICS_API
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UsdRelationship CreateMjcTargetRel() const;
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public:
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// ===================================================================== //
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// Feel free to add custom code below this line, it will be preserved by
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// the code generator.
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//
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// Just remember to:
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// - Close the class declaration with };
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// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
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// - Close the include guard with #endif
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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};
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PXR_NAMESPACE_CLOSE_SCOPE
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#endif
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