includes#
Fully qualified name: isaacsim::core::includes
-
namespace includes#
Classes#
- BaseResetNode
Base class for nodes that automatically reset their state when simulation is stopped.
- Buffer
Abstract base class for memory buffer management.
- ComponentBase
Base class template for USD prim-attached components in an Application.
- ComponentManager
Base class for managing USD-based components in an application.
- DeviceBufferBase
CUDA device (GPU) memory buffer implementation.
- GenericBufferBase
Device-generic (CPU or CUDA device) memory buffer implementation.
- HostBufferBase
Host (CPU) memory buffer implementation.
- LibraryLoader
Single dynamic library loader.
- MultiLibraryLoader
Manager for multiple dynamic libraries.
- PrimManagerBase
Base template class for bridge applications managing USD-based components.
- PrimManagerUsdNoticeListener
Custom USD notice listener for handling object changes in the stage.
- ScopedCudaTextureObject
RAII wrapper for CUDA texture object management.
- ScopedDevice
RAII wrapper for CUDA device context management.
- ScopedTimer
RAII-style performance timer for code block measurement.
- UsdNoticeListener
Helper base class to subscribe to pxr::TfNotice.
Enumerations#
- MemoryType
Enumeration specifying the type of memory allocation.
- TimeSamplesOnLayer
enum to show effective timesamples in layerstacks based on current authoring layer
Functions#
- void copyTimeSamplesFromWeakerLayer(pxr::UsdStage &stage, const pxr::UsdAttribute &attr)
Copy TimeSample From Waker Layer.
- pxr::GfMatrix4d findInnerTransform(pxr::UsdPrim prim, const pxr::GfMatrix4d &mtx, bool &foundTransformOp, pxr::UsdTimeCode timecode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false)
Given a target local transform matrix for a prim, determine what value to set just the transformOp when other xformOps are present.
- const PXR_NS::TfToken g_kIsaacNameOveride("isaac:nameOverride")
Token for overriding prim names in Isaac Sim.
- TimeSamplesOnLayer getAttributeEffectiveTimeSampleLayerInfo(const pxr::UsdStage &stage, const pxr::UsdAttribute &attr, pxr::SdfLayerRefPtr *outLayer=nullptr)
check if attribute has efficient timesample and these data are on currentlayer/strongerlayer/weakerlayer
- pxr::UsdAttribute getCameraAttributeFromRenderProduct(const std::string &attributeString, const std::string &renderProductPathString)
Retrieves a specific attribute from a camera associated with a render product.
- pxr::UsdPrim getCameraPrimFromRenderProduct(const std::string &renderProductPathString)
Retrieves the camera prim associated with a render product.
- PXR_NS::SdfLayerRefPtr getLayerIfDefOnSessionOrItsSublayers(PXR_NS::UsdStageRefPtr stage, const PXR_NS::SdfPath &path)
Finds if the given prim path has a "def" primSpec on session layer or its sublayers.
- PXR_NS::SdfLayerRefPtr getLayerIfSpecOnSessionOrItsSublayers(PXR_NS::UsdStageRefPtr stage, const PXR_NS::SdfPath &path, const std::function< bool(PXR_NS::SdfSpecHandle)> &predicate=nullptr)
Finds if the given path has a spec on session layer or its sublayers.
- pxr::GfMatrix4d getLocalTransformMatrix(const pxr::UsdPrim &prim, pxr::UsdTimeCode time=pxr::UsdTimeCode::Default())
Gets local transform matrix of a prim.
- std::string getName(const pxr::UsdPrim &prim)
Retrieves the name of a USD prim, with support for custom overrides.
- pxr::SdfPath getSdfPathFromUint64(uint64_t pathToken)
Converts a uint64_t token to a USD path.
- pxr::GfMatrix4d getWorldTransformMatrix(const pxr::UsdPrim &prim, pxr::UsdTimeCode time=pxr::UsdTimeCode::Default())
Gets world transform matrix of a prim.
- bool hasTimeSample(const pxr::UsdAttribute &attribute, pxr::UsdTimeCode timeCode)
Checks if a UsdAttribute instance has time sample on key timeCode.
- bool isTimeSampled(const pxr::UsdAttribute &attribute)
Checks if a UsdAttribute instance is time sampled.
- void safeGetAttribute(const pxr::UsdAttribute &attr, T &inputValue)
Safely retrieves a USD attribute value with error handling.
- bool setAttribute(const pxr::UsdAttribute &attribute, const ValueType &val, pxr::UsdTimeCode timeCode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false, bool autoTargetSessionLayer=true)
Sets attribute value with optional time sampling and session layer targeting.
- bool setLocalTransformMatrix(pxr::UsdPrim prim, const pxr::GfMatrix4d &mtxIn, pxr::UsdTimeCode timecode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false, std::unique_ptr< PXR_NS::SdfChangeBlock > *parentChangeBlock=nullptr)
Sets local transform matrix of a prim.
- bool setValueWithPrecision(pxr::UsdGeomXformOp &xformOp, const ValueType &value, pxr::UsdTimeCode timeCode=pxr::UsdTimeCode::Default(), bool skipEqualSetForTimeSample=false)
Set value with precision based on the UsdGeomXformOp precision type.
Namespaces#
Typedefs#
- Component
Convenience typedef for ComponentBase specialized with pxr::UsdPrim.
- DeviceBuffer
Type alias for a device buffer of bytes.
- GenericBuffer
Type alias for a generic buffer of bytes.
- HostBuffer
Type alias for a host buffer of bytes.
- PrimManager
Convenience typedef for PrimManagerBase specialized with the base Component type.