openusd 0.5.0

Rust native USD library
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142

//! Token constants for the [UsdPhysics](super) schema family.
//!
//! Centralised so consumers can match against canonical strings instead of
//! retyping literals. Mirrors the grouping in Pixar's
//! `pxr/usd/usdPhysics/tokens.h`.

// Concrete prim type names.
pub const T_PHYSICS_SCENE: &str = "PhysicsScene";
pub const T_PHYSICS_JOINT: &str = "PhysicsJoint";
pub const T_PHYSICS_FIXED_JOINT: &str = "PhysicsFixedJoint";
pub const T_PHYSICS_REVOLUTE_JOINT: &str = "PhysicsRevoluteJoint";
pub const T_PHYSICS_PRISMATIC_JOINT: &str = "PhysicsPrismaticJoint";
pub const T_PHYSICS_SPHERICAL_JOINT: &str = "PhysicsSphericalJoint";
pub const T_PHYSICS_DISTANCE_JOINT: &str = "PhysicsDistanceJoint";
pub const T_PHYSICS_COLLISION_GROUP: &str = "PhysicsCollisionGroup";

// API schemas (single-apply unless noted).
pub const API_RIGID_BODY: &str = "PhysicsRigidBodyAPI";
pub const API_MASS: &str = "PhysicsMassAPI";
pub const API_COLLISION: &str = "PhysicsCollisionAPI";
pub const API_MESH_COLLISION: &str = "PhysicsMeshCollisionAPI";
pub const API_ARTICULATION_ROOT: &str = "PhysicsArticulationRootAPI";
pub const API_PHYSICS_MATERIAL: &str = "PhysicsMaterialAPI";
pub const API_FILTERED_PAIRS: &str = "PhysicsFilteredPairsAPI";
/// Multi-apply: applied as `PhysicsLimitAPI:<dof>` per DOF.
pub const API_LIMIT: &str = "PhysicsLimitAPI";
/// Multi-apply: applied as `PhysicsDriveAPI:<dof>` per DOF.
pub const API_DRIVE: &str = "PhysicsDriveAPI";

// Stage metadata.
pub const STAGE_KILOGRAMS_PER_UNIT: &str = "kilogramsPerUnit";

// PhysicsScene attribute names.
pub const A_GRAVITY_DIRECTION: &str = "physics:gravityDirection";
pub const A_GRAVITY_MAGNITUDE: &str = "physics:gravityMagnitude";

// PhysicsRigidBodyAPI attribute names.
pub const A_RIGID_BODY_ENABLED: &str = "physics:rigidBodyEnabled";
pub const A_KINEMATIC_ENABLED: &str = "physics:kinematicEnabled";
pub const A_STARTS_ASLEEP: &str = "physics:startsAsleep";
pub const A_VELOCITY: &str = "physics:velocity";
pub const A_ANGULAR_VELOCITY: &str = "physics:angularVelocity";
pub const A_SIMULATION_OWNER: &str = "physics:simulationOwner";

// PhysicsMassAPI attribute names.
pub const A_MASS: &str = "physics:mass";
pub const A_DENSITY: &str = "physics:density";
pub const A_CENTER_OF_MASS: &str = "physics:centerOfMass";
pub const A_DIAGONAL_INERTIA: &str = "physics:diagonalInertia";
pub const A_PRINCIPAL_AXES: &str = "physics:principalAxes";

// PhysicsCollisionAPI / PhysicsMeshCollisionAPI attribute names.
pub const A_COLLISION_ENABLED: &str = "physics:collisionEnabled";
pub const A_APPROXIMATION: &str = "physics:approximation";

// PhysicsMaterialAPI attribute names.
pub const A_DYNAMIC_FRICTION: &str = "physics:dynamicFriction";
pub const A_STATIC_FRICTION: &str = "physics:staticFriction";
pub const A_RESTITUTION: &str = "physics:restitution";

// Joint base attribute names.
pub const A_BODY0: &str = "physics:body0";
pub const A_BODY1: &str = "physics:body1";
pub const A_LOCAL_POS_0: &str = "physics:localPos0";
pub const A_LOCAL_ROT_0: &str = "physics:localRot0";
pub const A_LOCAL_POS_1: &str = "physics:localPos1";
pub const A_LOCAL_ROT_1: &str = "physics:localRot1";
pub const A_JOINT_ENABLED: &str = "physics:jointEnabled";
/// On a joint, allow collision between the two attached bodies (default false).
pub const A_JOINT_COLLISION_ENABLED: &str = "physics:collisionEnabled";
pub const A_EXCLUDE_FROM_ARTICULATION: &str = "physics:excludeFromArticulation";
pub const A_BREAK_FORCE: &str = "physics:breakForce";
pub const A_BREAK_TORQUE: &str = "physics:breakTorque";

// Single-axis joints (revolute / prismatic).
pub const A_AXIS: &str = "physics:axis";
pub const A_LOWER_LIMIT: &str = "physics:lowerLimit";
pub const A_UPPER_LIMIT: &str = "physics:upperLimit";

// PhysicsSphericalJoint cone limit attribute names.
pub const A_CONE_ANGLE_0_LIMIT: &str = "physics:coneAngle0Limit";
pub const A_CONE_ANGLE_1_LIMIT: &str = "physics:coneAngle1Limit";

// PhysicsDistanceJoint attribute names.
pub const A_MIN_DISTANCE: &str = "physics:minDistance";
pub const A_MAX_DISTANCE: &str = "physics:maxDistance";

// PhysicsCollisionGroup attribute names.
pub const A_FILTERED_GROUPS: &str = "physics:filteredGroups";
pub const A_MERGE_GROUP: &str = "physics:mergeGroup";
pub const A_INVERT_FILTERED_GROUPS: &str = "physics:invertFilteredGroups";

// PhysicsFilteredPairsAPI attribute names.
pub const A_FILTERED_PAIRS: &str = "physics:filteredPairs";

// Material binding relationships. UsdPhysics looks up
// `material:binding:physics` first and falls back to `material:binding`.
pub const REL_MATERIAL_BINDING: &str = "material:binding";
pub const REL_MATERIAL_BINDING_PHYSICS: &str = "material:binding:physics";

// DOF tokens — used as multi-apply instance names on
// `PhysicsLimitAPI:<dof>` and `PhysicsDriveAPI:<dof>`, and as the
// segment in `limit:<dof>:physics:*` / `drive:<dof>:physics:*`.
pub const DOF_TRANS_X: &str = "transX";
pub const DOF_TRANS_Y: &str = "transY";
pub const DOF_TRANS_Z: &str = "transZ";
pub const DOF_ROT_X: &str = "rotX";
pub const DOF_ROT_Y: &str = "rotY";
pub const DOF_ROT_Z: &str = "rotZ";
pub const DOF_LINEAR: &str = "linear";
pub const DOF_ANGULAR: &str = "angular";
pub const DOF_DISTANCE: &str = "distance";

// Collision-approximation tokens authored on `PhysicsMeshCollisionAPI`.
pub const APPROX_NONE: &str = "none";
pub const APPROX_CONVEX_HULL: &str = "convexHull";
pub const APPROX_CONVEX_DECOMPOSITION: &str = "convexDecomposition";
pub const APPROX_BOUNDING_SPHERE: &str = "boundingSphere";
pub const APPROX_BOUNDING_CUBE: &str = "boundingCube";
pub const APPROX_MESH_SIMPLIFICATION: &str = "meshSimplification";

// Joint axis tokens (single-axis joints).
pub const AXIS_X: &str = "X";
pub const AXIS_Y: &str = "Y";
pub const AXIS_Z: &str = "Z";

// Drive type tokens (`PhysicsDriveAPI:<dof>:physics:type`).
pub const DRIVE_TYPE_FORCE: &str = "force";
pub const DRIVE_TYPE_ACCELERATION: &str = "acceleration";

// Drive sub-attribute names. Drives are authored as
// `drive:<dof>:physics:<sub>` per the Pixar spec.
pub const DRIVE_SUB_TYPE: &str = "type";
pub const DRIVE_SUB_TARGET_POSITION: &str = "targetPosition";
pub const DRIVE_SUB_TARGET_VELOCITY: &str = "targetVelocity";
pub const DRIVE_SUB_DAMPING: &str = "damping";
pub const DRIVE_SUB_STIFFNESS: &str = "stiffness";
pub const DRIVE_SUB_MAX_FORCE: &str = "maxForce";

// Limit sub-attribute names (`limit:<dof>:physics:<sub>`).
pub const LIMIT_SUB_LOW: &str = "low";
pub const LIMIT_SUB_HIGH: &str = "high";