SoftBodyNode represent a soft body that has one deformable skin. More...

#include <SoftBodyNode.hpp>

Inheritance diagram for dart::dynamics::SoftBodyNode:

Collaboration diagram for dart::dynamics::SoftBodyNode:

Public Types
using	UniqueProperties = detail::SoftBodyNodeUniqueProperties

using	Properties = detail::SoftBodyNodeProperties

using	Base = detail::SoftBodyNodeBase

Public Types inherited from dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >
using	Impl = EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >

using	Derived = typename Impl::Derived

using	AspectStateData = typename Impl::AspectStateData

using	AspectState = typename Impl::AspectState

using	AspectPropertiesData = typename Impl::AspectPropertiesData

using	AspectProperties = typename Impl::AspectProperties

using	Aspect = typename Impl::Aspect

using	Base = CompositeJoiner< Impl, CompositeBases... >

Public Member Functions
SoftBodyNode *	asSoftBodyNode () override

const SoftBodyNode *	asSoftBodyNode () const override

void	setProperties (const Properties &_properties)
	Set the Properties of this SoftBodyNode.

void	setProperties (const UniqueProperties &_properties)
	Set the Properties of this SoftBodyNode.

void	setAspectState (const AspectState &state)
	Set the AspectState of this SoftBodyNode.

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this SoftBodyNode.

Properties	getSoftBodyNodeProperties () const
	Get the Properties of this SoftBodyNode.

void	copy (const SoftBodyNode &_otherSoftBodyNode)
	Copy the Properties of another SoftBodyNode.

void	copy (const SoftBodyNode *_otherSoftBodyNode)
	Copy the Properties of another SoftBodyNode.

SoftBodyNode &	operator= (const SoftBodyNode &_otherSoftBodyNode)
	Copy the Properties of another SoftBodyNode.

PointMassNotifier *	getNotifier ()
	Get the update notifier for the PointMasses of this SoftBodyNode.

const PointMassNotifier *	getNotifier () const
	Get the update notifier for the PointMasses of this SoftBodyNode.

double	getMass () const
	Get mass.

void	setVertexSpringStiffness (double _kv)

double	getVertexSpringStiffness () const

void	setEdgeSpringStiffness (double _ke)

double	getEdgeSpringStiffness () const

void	setDampingCoefficient (double _damp)

double	getDampingCoefficient () const

void	removeAllPointMasses ()

PointMass *	addPointMass (const PointMass::Properties &_properties)

std::size_t	getNumPointMasses () const

PointMass *	getPointMass (std::size_t _idx)

const PointMass *	getPointMass (std::size_t _idx) const

const std::vector< PointMass * > &	getPointMasses () const
	Return all the point masses in this SoftBodyNode.

void	connectPointMasses (std::size_t _idx1, std::size_t _idx2)

void	addFace (const Eigen::Vector3i &_face)

const Eigen::Vector3i &	getFace (std::size_t _idx) const

std::size_t	getNumFaces () const

void	clearConstraintImpulse () override

Public Member Functions inherited from dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >
template<typename... Args>
	EmbedStateAndPropertiesOnTopOf (Args &&... args)

Protected Member Functions
	SoftBodyNode (BodyNode _parentBodyNode, Joint _parentJoint, const Properties &_properties)
	Constructor called by Skeleton class.

BodyNode *	clone (BodyNode _parentBodyNode, Joint _parentJoint, bool cloneNodes) const override
	Create a clone of this SoftBodyNode. More...

void	configurePointMasses (ShapeNode *softNode)
	Used by SoftBodyAspect to have this SoftBodyNode reconstruct its SoftMeshShape.

void	init (const SkeletonPtr &_skeleton) override

void	clearExternalForces () override

void	clearInternalForces () override

Recursive dynamics routines
void	checkArticulatedInertiaUpdate () const
	Update articulated inertia if necessary.

void	updateTransform () override

void	updateVelocity () override

void	updatePartialAcceleration () const override

void	updateArtInertia (double _timeStep) const override

void	updateBiasForce (const Eigen::Vector3d &_gravity, double _timeStep) override

void	updateBiasImpulse () override

void	updateAccelerationID () override

void	updateAccelerationFD () override

void	updateVelocityChangeFD () override

void	updateTransmittedForceID (const Eigen::Vector3d &_gravity, bool _withExternalForces=false) override

void	updateTransmittedForceFD () override

void	updateTransmittedImpulse () override

void	updateJointForceID (double _timeStep, bool _withDampingForces, bool _withSpringForces) override

void	updateJointForceFD (double _timeStep, bool _withDampingForces, bool _withSpringForces) override

void	updateJointImpulseFD () override

void	updateConstrainedTerms (double _timeStep) override

Equations of motion related routines
void	updateMassMatrix () override

void	aggregateMassMatrix (Eigen::MatrixXd &_MCol, std::size_t _col) override

void	aggregateAugMassMatrix (Eigen::MatrixXd &_MCol, std::size_t _col, double _timeStep) override

void	updateInvMassMatrix () override

void	updateInvAugMassMatrix () override

void	aggregateInvMassMatrix (Eigen::MatrixXd &_InvMCol, std::size_t _col) override

void	aggregateInvAugMassMatrix (Eigen::MatrixXd &_InvMCol, std::size_t _col, double _timeStep) override

void	aggregateCoriolisForceVector (Eigen::VectorXd &_C) override

void	aggregateGravityForceVector (Eigen::VectorXd &_g, const Eigen::Vector3d &_gravity) override

void	updateCombinedVector () override

void	aggregateCombinedVector (Eigen::VectorXd &_Cg, const Eigen::Vector3d &_gravity) override

void	aggregateExternalForces (Eigen::VectorXd &_Fext) override

Protected Attributes
std::vector< PointMass * >	mPointMasses
	List of point masses composing deformable mesh.

PointMassNotifier *	mNotifier
	An Entity which tracks when the point masses need to be updated.

WeakShapeNodePtr	mSoftShapeNode
	Soft mesh shape belonging to this node.

math::Inertia	mI2
	Generalized inertia with point masses.

math::Inertia	mArtInertia2

math::Inertia	mArtInertiaImplicit2

Friends
class	Skeleton

class	PointMass

class	PointMassNotifier

Detailed Description

SoftBodyNode represent a soft body that has one deformable skin.

This class is implementation of Sumit Jain and C. Karen Liu's paper: http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/projects/softcontacts/index.html

Member Function Documentation

◆ aggregateInvAugMassMatrix()

void dart::dynamics::SoftBodyNode::aggregateInvAugMassMatrix	(	Eigen::MatrixXd &	_InvMCol,
		std::size_t	_col,
		double	_timeStep
	)

overrideprotected

mPointMasses.at(i)->aggregateInvAugMassMatrix(_InvMCol, _col, _timeStep);

◆ clone()

BodyNode * dart::dynamics::SoftBodyNode::clone	(	BodyNode *	_parentBodyNode,
		Joint *	_parentJoint,
		bool	cloneNodes
	)		const

overrideprotected

Create a clone of this SoftBodyNode.

This may only be called by the Skeleton class.

◆ updateInvAugMassMatrix()

void dart::dynamics::SoftBodyNode::updateInvAugMassMatrix ( )

overrideprotected

mInvM_c.head<3>() += (*it)->getLocalPosition().cross((*it)->mBiasForceForInvMeta); / mInvM_c.tail<3>() += (*it)->mBiasForceForInvMeta; / }

The documentation for this class was generated from the following files:

dart/dynamics/SoftBodyNode.hpp
dart/dynamics/SoftBodyNode.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ aggregateInvAugMassMatrix()

◆ clone()

◆ updateInvAugMassMatrix()