computeWorldXformNoCache

Fully qualified name: isaacsim::core::includes::pose::computeWorldXformNoCache

static usdrt::GfMatrix4d isaacsim::core::includes::pose::computeWorldXformNoCache(

pxr::UsdStageRefPtr usdStage,

usdrt::UsdStageRefPtr usdrtStage,

const pxr::SdfPath &path,

pxr::UsdTimeCode timecode = pxr::UsdTimeCode::Default(),

bool useFabricHierarchy = true,

bool logWarningOnFallback = false,

)

Computes the world transform of a prim.

Calculates the complete world transform by:

1. Checking for world transform attributes (position, orientation, scale)

2. Falling back to local transform computation if world transform unavailable

3. Recursively computing parent transforms when needed

The function handles three cases:

• Prims with world transform attributes

• Prims with local transform only

• Regular USD prims without USDRT extensions

Warning

May be computationally expensive for deep hierarchies

Parameters:

• usdStage – [in] Reference to the USD stage

• usdrtStage – [in] Reference to the USDRT stage

• path – [in] Path to the prim whose transform to compute

• timecode – [in] Time code for the transform evaluation (default: Default())

• useFabricHierarchy – [in] Whether to use IFabricHierarchy (default: true). If enabled, but Fabric Scene Delegate (/app/useFabricSceneDelegate) is disabled or the retrieved data is invalid, the call will fall back to non-IFabricHierarchy implementation.

• logWarningOnFallback – [in] Whether to log a warning when falling back to non-IFabricHierarchy (default: false).

Returns:

usdrt::GfMatrix4d The computed world transform matrix