newton.usd.SchemaResolverPhysx#

class newton.usd.SchemaResolverPhysx[source]#

Bases: SchemaResolver

Schema resolver for PhysX USD attributes.

extra_attr_namespaces: ClassVar[list[str]] = ['physxScene', 'physxRigidBody', 'physxCollision', 'physxConvexHullCollision', 'physxConvexDecompositionCollision', 'physxTriangleMeshCollision', 'physxTriangleMeshSimplificationCollision', 'physxSDFMeshCollision', 'physxMaterial', 'physxJoint', 'physxLimit', 'physxArticulation', 'state', 'drive']#

mapping: ClassVar[dict[PrimType, dict[str, SchemaAttribute]]] = {PrimType.SCENE: {'gravity_enabled': SchemaResolver.SchemaAttribute(name='physxRigidBody:disableGravity', default=False, usd_value_transformer=<function SchemaResolverPhysx.<lambda>>, usd_value_getter=None, attribute_names=()), 'max_solver_iterations': SchemaResolver.SchemaAttribute(name='physxScene:maxVelocityIterationCount', default=255, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'time_steps_per_second': SchemaResolver.SchemaAttribute(name='physxScene:timeStepsPerSecond', default=60, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.JOINT: {'angular_position': SchemaResolver.SchemaAttribute(name='state:angular:physics:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'angular_velocity': SchemaResolver.SchemaAttribute(name='state:angular:physics:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'armature': SchemaResolver.SchemaAttribute(name='physxJoint:armature', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_angular_kd': SchemaResolver.SchemaAttribute(name='physxLimit:angular:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_angular_ke': SchemaResolver.SchemaAttribute(name='physxLimit:angular:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_linear_kd': SchemaResolver.SchemaAttribute(name='physxLimit:linear:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_linear_ke': SchemaResolver.SchemaAttribute(name='physxLimit:linear:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotX_kd': SchemaResolver.SchemaAttribute(name='physxLimit:rotX:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotX_ke': SchemaResolver.SchemaAttribute(name='physxLimit:rotX:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotY_kd': SchemaResolver.SchemaAttribute(name='physxLimit:rotY:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotY_ke': SchemaResolver.SchemaAttribute(name='physxLimit:rotY:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotZ_kd': SchemaResolver.SchemaAttribute(name='physxLimit:rotZ:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_rotZ_ke': SchemaResolver.SchemaAttribute(name='physxLimit:rotZ:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_transX_kd': SchemaResolver.SchemaAttribute(name='physxLimit:linear:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_transX_ke': SchemaResolver.SchemaAttribute(name='physxLimit:linear:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_transY_kd': SchemaResolver.SchemaAttribute(name='physxLimit:linear:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_transY_ke': SchemaResolver.SchemaAttribute(name='physxLimit:linear:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_transZ_kd': SchemaResolver.SchemaAttribute(name='physxLimit:linear:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_transZ_ke': SchemaResolver.SchemaAttribute(name='physxLimit:linear:stiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'linear_position': SchemaResolver.SchemaAttribute(name='state:linear:physics:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'linear_velocity': SchemaResolver.SchemaAttribute(name='state:linear:physics:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotX_position': SchemaResolver.SchemaAttribute(name='state:rotX:physics:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotX_velocity': SchemaResolver.SchemaAttribute(name='state:rotX:physics:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotY_position': SchemaResolver.SchemaAttribute(name='state:rotY:physics:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotY_velocity': SchemaResolver.SchemaAttribute(name='state:rotY:physics:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotZ_position': SchemaResolver.SchemaAttribute(name='state:rotZ:physics:position', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rotZ_velocity': SchemaResolver.SchemaAttribute(name='state:rotZ:physics:velocity', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'velocity_limit': SchemaResolver.SchemaAttribute(name='physxJoint:maxJointVelocity', default=None, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.SHAPE: {'gap': SchemaResolver.SchemaAttribute(name='physxCollision:contactOffset', default=-inf, usd_value_transformer=None, usd_value_getter=<function _physx_gap_from_prim>, attribute_names=('physxCollision:contactOffset', 'physxCollision:restOffset')), 'margin': SchemaResolver.SchemaAttribute(name='physxCollision:restOffset', default=0.0, usd_value_transformer=<function SchemaResolverPhysx.<lambda>>, usd_value_getter=None, attribute_names=()), 'max_hull_vertices': SchemaResolver.SchemaAttribute(name='physxConvexHullCollision:hullVertexLimit', default=64, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.BODY: {'rigid_body_angular_damping': SchemaResolver.SchemaAttribute(name='physxRigidBody:angularDamping', default=0.05, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'rigid_body_linear_damping': SchemaResolver.SchemaAttribute(name='physxRigidBody:linearDamping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.MATERIAL: {'damping': SchemaResolver.SchemaAttribute(name='physxMaterial:compliantContactDamping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'stiffness': SchemaResolver.SchemaAttribute(name='physxMaterial:compliantContactStiffness', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.ARTICULATION: {'self_collision_enabled': SchemaResolver.SchemaAttribute(name='physxArticulation:enabledSelfCollisions', default=True, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}}#

name: ClassVar[str] = 'physx'#