Requirements

Summary

• A UsdPhysicsJoint prim or one of its subtypes can be used to constrain two rigid bodies together, or to constrain a single rigid body to the World. This is achieved by setting the joint’s Body0 and Body1 relationship targets to either two rigid bodies or one to a rigid body and leaving the other one empty.

• Any prim of the USD scene graph hierarchy may be marked with an UsdPhysicsArticulationRootAPI. This informs the simulation that any joints found in the subtree should preferentially be simulated using a reduced coordinate approach.

Schema / OpenUSD Specification

Joints are created using the following schemas that are part of the core OpenUSD specification.

• Joints

• Joint Subtypes

Requirements