SoftBodyNodeAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_

#include "dart/common/RequiresAspect.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/PointMass.hpp"

namespace dart {
namespace dynamics {

const double DART_DEFAULT_VERTEX_STIFFNESS = 1.0;
const double DART_DEFAULT_EDGE_STIFNESS = 1.0;
const double DART_DEFAULT_DAMPING_COEFF = 0.01;

class SoftBodyNode;
class SoftMeshShape;

namespace detail {

//==============================================================================
class SoftBodyAspect;

//==============================================================================
struct SoftBodyNodeUniqueState
{
  std::vector<PointMass::State> mPointStates;

  virtual ~SoftBodyNodeUniqueState() = default;
};

//==============================================================================
struct SoftBodyNodeUniqueProperties
{
  double mKv;

  double mKe;

  double mDampCoeff;

  std::vector<PointMass::Properties> mPointProps;

  // TODO(JS): Let's remove this because this is rendering part
  std::vector<Eigen::Vector3i> mFaces;

  SoftBodyNodeUniqueProperties(
      double _Kv = DART_DEFAULT_VERTEX_STIFFNESS,
      double _Ke = DART_DEFAULT_EDGE_STIFNESS,
      double _DampCoeff = DART_DEFAULT_DAMPING_COEFF,
      const std::vector<PointMass::Properties>& _points
      = std::vector<PointMass::Properties>(),
      const std::vector<Eigen::Vector3i>& _faces
      = std::vector<Eigen::Vector3i>());

  virtual ~SoftBodyNodeUniqueProperties() = default;

  void addPointMass(const PointMass::Properties& _properties);

  bool connectPointMasses(std::size_t i1, std::size_t i2);

  void addFace(const Eigen::Vector3i& _newFace);
};

//==============================================================================
struct SoftBodyNodeProperties : BodyNode::Properties,
                                SoftBodyNodeUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SoftBodyNodeProperties)

  SoftBodyNodeProperties(
      const BodyNode::Properties& _bodyProperties = BodyNode::Properties(),
      const SoftBodyNodeUniqueProperties& _softProperties
      = SoftBodyNodeUniqueProperties());

  virtual ~SoftBodyNodeProperties() = default;
};

//==============================================================================
using SoftBodyNodeBase = common::EmbedStateAndPropertiesOnTopOf<
    SoftBodyNode,
    SoftBodyNodeUniqueState,
    SoftBodyNodeUniqueProperties,
    BodyNode>;

} // namespace detail
} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_