Merge pull request #1424 from AlesBorovicka/physics-schema

UsdPhysics schema

(Internal change: 2174307)

docs/doxygen/Doxyfile.in

@@ -835,6 +835,7 @@ EXCLUDE_PATTERNS       =
 
 EXCLUDE_SYMBOLS        = Usd_* \
                          UsdGeom_* \
+                         UsdPhysics_* \
                          UsdRi_* \
                          UsdShade_* \
                          UsdHydra_* \

docs/doxygen/externalOverview.dox

@@ -194,6 +194,12 @@ modules that layer on top of the core.  In low-to-high order, the modules are:
   of the schema classes are produced entirely via the \em usdGenSchema code
   generator included with the core.
 
+- \ref usdPhysics_page_front : The primary physics-supporting schema module, 
+  UsdPhysics provides physics description of the USD prims (rigid bodies, 
+  joints, scenes, collisions, etc.). Physics schema also defines physics 
+  related metrics like the mass units, kilogramsPerUnit (\ref 
+  UsdPhysicsTokensType::kilogramsPerUnit).
+
 - \ref usdShade_page_front Schema module that defines Looks, Shaders,
   connectible Parameters, with API for building shading networks and
   user-facing "Look Interfaces" that allow shading networks to be shared (via

pxr/usd/CMakeLists.txt

@@ -17,6 +17,7 @@ set(DIRS
     usdSkel
     usdUI
     usdUtils
+    usdPhysics
     plugin
 )
 

pxr/usd/usdPhysics/CMakeLists.txt

@@ -0,0 +1,89 @@
+set(PXR_PREFIX pxr/usd)
+set(PXR_PACKAGE usdPhysics)
+
+pxr_library(usdPhysics
+    LIBRARIES
+        js
+        tf
+        plug
+        vt
+        sdf
+        trace
+        usd
+        usdGeom
+        work
+        ${Boost_PYTHON_LIBRARY}
+        ${TBB_tbb_LIBRARY}
+
+    INCLUDE_DIRS
+        ${Boost_INCLUDE_DIRS}
+        ${TBB_INCLUDE_DIRS}
+
+    PUBLIC_CLASSES
+        articulationRootAPI
+        collisionAPI
+        collisionGroup
+        distanceJoint
+        driveAPI
+        filteredPairsAPI
+        fixedJoint
+        joint
+        limitAPI
+        massAPI
+        materialAPI
+        meshCollisionAPI
+        metrics
+        prismaticJoint
+        revoluteJoint
+        rigidBodyAPI
+        scene
+        sphericalJoint
+        tokens        
+
+    PUBLIC_HEADERS
+        api.h
+
+    PYTHON_CPPFILES
+        moduleDeps.cpp
+
+    PYMODULE_CPPFILES
+        module.cpp
+        wrapArticulationRootAPI.cpp
+        wrapCollisionAPI.cpp
+        wrapCollisionGroup.cpp
+        wrapDistanceJoint.cpp
+        wrapDriveAPI.cpp
+        wrapFilteredPairsAPI.cpp
+        wrapFixedJoint.cpp
+        wrapJoint.cpp
+        wrapLimitAPI.cpp
+        wrapMassAPI.cpp
+        wrapMaterialAPI.cpp
+        wrapMeshCollisionAPI.cpp
+        wrapMetrics.cpp
+        wrapPrismaticJoint.cpp
+        wrapRevoluteJoint.cpp
+        wrapRigidBodyAPI.cpp
+        wrapScene.cpp
+        wrapSphericalJoint.cpp
+        wrapTokens.cpp
+
+    PYMODULE_FILES
+        __init__.py
+
+    RESOURCE_FILES
+        plugInfo.json
+        generatedSchema.usda
+        schema.usda:usdPhysics/schema.usda
+
+    DOXYGEN_FILES
+        overview.dox        
+        examples/usdPhysicsBoxOnBox.usda
+        examples/usdPhysicsBoxOnQuad.usda
+        examples/usdPhysicsDistanceJoint.usda
+        examples/usdPhysicsGroupFiltering.usda
+        examples/usdPhysicsJoints.usda
+        examples/usdPhysicsPairFiltering.usda
+        examples/usdPhysicsSpheresWithMaterial.usda
+)
+

pxr/usd/usdPhysics/__init__.py

@@ -0,0 +1,46 @@
+# 
+#====
+#	Copyright (c) 2018, NVIDIA CORPORATION
+#======
+# 
+
+#
+# Copyright 2016 Pixar
+#
+# Licensed under the Apache License, Version 2.0 (the "Apache License")
+# with the following modification; you may not use this file except in
+# compliance with the Apache License and the following modification to it:
+# Section 6. Trademarks. is deleted and replaced with:
+#
+# 6. Trademarks. This License does not grant permission to use the trade
+#    names, trademarks, service marks, or product names of the Licensor
+#    and its affiliates, except as required to comply with Section 4(c) of
+#    the License and to reproduce the content of the NOTICE file.
+#
+# You may obtain a copy of the Apache License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the Apache License with the above modification is
+# distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied. See the Apache License for the specific
+# language governing permissions and limitations under the Apache License.
+#
+from . import _usdPhysics
+from pxr import Tf
+Tf.PrepareModule(_usdPhysics, locals())
+del Tf
+
+try:
+    import __DOC
+    __DOC.Execute(locals())
+    del __DOC
+except Exception:
+    try:
+        import __tmpDoc
+        __tmpDoc.Execute(locals())
+        del __tmpDoc
+    except:
+        pass
+

pxr/usd/usdPhysics/api.h

@@ -0,0 +1,47 @@
+//
+// Copyright 2017 Pixar
+//
+// Licensed under the Apache License, Version 2.0 (the "Apache License")
+// with the following modification; you may not use this file except in
+// compliance with the Apache License and the following modification to it:
+// Section 6. Trademarks. is deleted and replaced with:
+//
+// 6. Trademarks. This License does not grant permission to use the trade
+//    names, trademarks, service marks, or product names of the Licensor
+//    and its affiliates, except as required to comply with Section 4(c) of
+//    the License and to reproduce the content of the NOTICE file.
+//
+// You may obtain a copy of the Apache License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the Apache License with the above modification is
+// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+// KIND, either express or implied. See the Apache License for the specific
+// language governing permissions and limitations under the Apache License.
+//
+#ifndef USDPHYSICS_API_H
+#define USDPHYSICS_API_H
+
+#include "pxr/base/arch/export.h"
+
+#if defined(PXR_STATIC)
+#   define USDPHYSICS_API
+#   define USDPHYSICS_API_TEMPLATE_CLASS(...)
+#   define USDPHYSICS_API_TEMPLATE_STRUCT(...)
+#   define USDPHYSICS_LOCAL
+#else
+#   if defined(USDPHYSICS_EXPORTS)
+#       define USDPHYSICS_API ARCH_EXPORT
+#       define USDPHYSICS_API_TEMPLATE_CLASS(...) ARCH_EXPORT_TEMPLATE(class, __VA_ARGS__)
+#       define USDPHYSICS_API_TEMPLATE_STRUCT(...) ARCH_EXPORT_TEMPLATE(struct, __VA_ARGS__)
+#   else
+#       define USDPHYSICS_API ARCH_IMPORT
+#       define USDPHYSICS_API_TEMPLATE_CLASS(...) ARCH_IMPORT_TEMPLATE(class, __VA_ARGS__)
+#       define USDPHYSICS_API_TEMPLATE_STRUCT(...) ARCH_IMPORT_TEMPLATE(struct, __VA_ARGS__)
+#   endif
+#   define USDPHYSICS_LOCAL ARCH_HIDDEN
+#endif
+
+#endif

pxr/usd/usdPhysics/articulationRootAPI.cpp

@@ -0,0 +1,134 @@
+//
+// Copyright 2016 Pixar
+//
+// Licensed under the Apache License, Version 2.0 (the "Apache License")
+// with the following modification; you may not use this file except in
+// compliance with the Apache License and the following modification to it:
+// Section 6. Trademarks. is deleted and replaced with:
+//
+// 6. Trademarks. This License does not grant permission to use the trade
+//    names, trademarks, service marks, or product names of the Licensor
+//    and its affiliates, except as required to comply with Section 4(c) of
+//    the License and to reproduce the content of the NOTICE file.
+//
+// You may obtain a copy of the Apache License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the Apache License with the above modification is
+// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+// KIND, either express or implied. See the Apache License for the specific
+// language governing permissions and limitations under the Apache License.
+//
+#include "pxr/usd/usdPhysics/articulationRootAPI.h"
+#include "pxr/usd/usd/schemaRegistry.h"
+#include "pxr/usd/usd/typed.h"
+#include "pxr/usd/usd/tokens.h"
+
+#include "pxr/usd/sdf/types.h"
+#include "pxr/usd/sdf/assetPath.h"
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType)
+{
+    TfType::Define<UsdPhysicsArticulationRootAPI,
+        TfType::Bases< UsdAPISchemaBase > >();
+
+}
+
+TF_DEFINE_PRIVATE_TOKENS(
+    _schemaTokens,
+    (PhysicsArticulationRootAPI)
+);
+
+/* virtual */
+UsdPhysicsArticulationRootAPI::~UsdPhysicsArticulationRootAPI()
+{
+}
+
+/* static */
+UsdPhysicsArticulationRootAPI
+UsdPhysicsArticulationRootAPI::Get(const UsdStagePtr &stage, const SdfPath &path)
+{
+    if (!stage) {
+        TF_CODING_ERROR("Invalid stage");
+        return UsdPhysicsArticulationRootAPI();
+    }
+    return UsdPhysicsArticulationRootAPI(stage->GetPrimAtPath(path));
+}
+
+
+/* virtual */
+UsdSchemaKind UsdPhysicsArticulationRootAPI::_GetSchemaKind() const
+{
+    return UsdPhysicsArticulationRootAPI::schemaKind;
+}
+
+/* static */
+bool
+UsdPhysicsArticulationRootAPI::CanApply(
+    const UsdPrim &prim, std::string *whyNot)
+{
+    return prim.CanApplyAPI<UsdPhysicsArticulationRootAPI>(whyNot);
+}
+
+/* static */
+UsdPhysicsArticulationRootAPI
+UsdPhysicsArticulationRootAPI::Apply(const UsdPrim &prim)
+{
+    if (prim.ApplyAPI<UsdPhysicsArticulationRootAPI>()) {
+        return UsdPhysicsArticulationRootAPI(prim);
+    }
+    return UsdPhysicsArticulationRootAPI();
+}
+
+/* static */
+const TfType &
+UsdPhysicsArticulationRootAPI::_GetStaticTfType()
+{
+    static TfType tfType = TfType::Find<UsdPhysicsArticulationRootAPI>();
+    return tfType;
+}
+
+/* static */
+bool 
+UsdPhysicsArticulationRootAPI::_IsTypedSchema()
+{
+    static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+    return isTyped;
+}
+
+/* virtual */
+const TfType &
+UsdPhysicsArticulationRootAPI::_GetTfType() const
+{
+    return _GetStaticTfType();
+}
+
+/*static*/
+const TfTokenVector&
+UsdPhysicsArticulationRootAPI::GetSchemaAttributeNames(bool includeInherited)
+{
+    static TfTokenVector localNames;
+    static TfTokenVector allNames =
+        UsdAPISchemaBase::GetSchemaAttributeNames(true);
+
+    if (includeInherited)
+        return allNames;
+    else
+        return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--