DART  6.10.1
dart::dynamics::SoftBodyNodeHelper Class Reference

#include <SoftBodyNode.hpp>

Static Public Member Functions

static SoftBodyNode::UniqueProperties makeBoxProperties (const Eigen::Vector3d &_size, const Eigen::Isometry3d &_localTransform, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 Create a Properties struct for a box-shaped SoftBodyNode with 8 PointMasses. More...
 
static void setBox (SoftBodyNode *_softBodyNode, const Eigen::Vector3d &_size, const Eigen::Isometry3d &_localTransform, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 This should be called before SoftBodyNode::init() is called. More...
 
static SoftBodyNode::UniqueProperties makeBoxProperties (const Eigen::Vector3d &_size, const Eigen::Isometry3d &_localTransform, const Eigen::Vector3i &_frags, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 Create a Properties struct for a box-shaped SoftBodyNode. More...
 
static void setBox (SoftBodyNode *_softBodyNode, const Eigen::Vector3d &_size, const Eigen::Isometry3d &_localTransform, const Eigen::Vector3i &_frags, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 This should be called before SoftBodyNode::init() is called. More...
 
static SoftBodyNode::UniqueProperties makeSinglePointMassProperties (double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 Create a Properties struct for a SoftBodyNode with a single PointMass. More...
 
static void setSinglePointMass (SoftBodyNode *_softBodyNode, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 This should be called before SoftBodyNode::init() is called. More...
 
static SoftBodyNode::UniqueProperties makeSphereProperties (double _radius, std::size_t _nSlices, std::size_t _nStacks, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 Create a Properties struct for an Sphere-shaped SoftBodyNode. More...
 
static SoftBodyNode::UniqueProperties makeEllipsoidProperties (const Eigen::Vector3d &_size, std::size_t _nSlices, std::size_t _nStacks, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 Create a Properties struct for an Ellipsoid-shaped SoftBodyNode. More...
 
static void setEllipsoid (SoftBodyNode *_softBodyNode, const Eigen::Vector3d &_size, std::size_t _nSlices, std::size_t _nStacks, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 This should be called before SoftBodyNode::init() is called. More...
 
static SoftBodyNode::UniqueProperties makeCylinderProperties (double _radius, double _height, std::size_t _nSlices, std::size_t _nStacks, std::size_t _nRings, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 Create a Properties struct for a cylinder-shaped SoftBodyNode. More...
 
static void setCylinder (SoftBodyNode *_softBodyNode, double _radius, double _height, std::size_t _nSlices, std::size_t _nStacks, std::size_t _nRings, double _totalMass, double _vertexStiffness=DART_DEFAULT_VERTEX_STIFFNESS, double _edgeStiffness=DART_DEFAULT_EDGE_STIFNESS, double _dampingCoeff=DART_DEFAULT_DAMPING_COEFF)
 This should be called before SoftBodyNode::init() is called. More...
 

Member Function Documentation

◆ makeBoxProperties() [1/2]

SoftBodyNode::UniqueProperties dart::dynamics::SoftBodyNodeHelper::makeBoxProperties ( const Eigen::Vector3d &  _size,
const Eigen::Isometry3d &  _localTransform,
const Eigen::Vector3i &  _frags,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

Create a Properties struct for a box-shaped SoftBodyNode.

Specify the number of vertices along each axis with _frags. Each component should be equal to or greater than 3. For example, [3 3 3] is allowed but [2 2 2] is not.

◆ makeBoxProperties() [2/2]

SoftBodyNode::UniqueProperties dart::dynamics::SoftBodyNodeHelper::makeBoxProperties ( const Eigen::Vector3d &  _size,
const Eigen::Isometry3d &  _localTransform,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

Create a Properties struct for a box-shaped SoftBodyNode with 8 PointMasses.

◆ makeCylinderProperties()

SoftBodyNode::UniqueProperties dart::dynamics::SoftBodyNodeHelper::makeCylinderProperties ( double  _radius,
double  _height,
std::size_t  _nSlices,
std::size_t  _nStacks,
std::size_t  _nRings,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

Create a Properties struct for a cylinder-shaped SoftBodyNode.

◆ makeEllipsoidProperties()

SoftBodyNode::UniqueProperties dart::dynamics::SoftBodyNodeHelper::makeEllipsoidProperties ( const Eigen::Vector3d &  _size,
std::size_t  _nSlices,
std::size_t  _nStacks,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

Create a Properties struct for an Ellipsoid-shaped SoftBodyNode.

◆ makeSinglePointMassProperties()

SoftBodyNode::UniqueProperties dart::dynamics::SoftBodyNodeHelper::makeSinglePointMassProperties ( double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

Create a Properties struct for a SoftBodyNode with a single PointMass.

◆ makeSphereProperties()

SoftBodyNode::UniqueProperties dart::dynamics::SoftBodyNodeHelper::makeSphereProperties ( double  _radius,
std::size_t  _nSlices,
std::size_t  _nStacks,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

Create a Properties struct for an Sphere-shaped SoftBodyNode.

◆ setBox() [1/2]

void dart::dynamics::SoftBodyNodeHelper::setBox ( SoftBodyNode _softBodyNode,
const Eigen::Vector3d &  _size,
const Eigen::Isometry3d &  _localTransform,
const Eigen::Vector3i &  _frags,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

This should be called before SoftBodyNode::init() is called.

Parameters
[in]_softBodyNode
[in]_size
[in]_localTransform
[in]_fragsNumber of vertices of box mesh. Each component should be equal or greater than 3. For example, [3 3 3] is allowed but [2 2 2] is not.
[in]_totalMass
[in]_vertexStiffness
[in]_edgeStiffness
[in]_dampingCoeff

◆ setBox() [2/2]

void dart::dynamics::SoftBodyNodeHelper::setBox ( SoftBodyNode _softBodyNode,
const Eigen::Vector3d &  _size,
const Eigen::Isometry3d &  _localTransform,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

This should be called before SoftBodyNode::init() is called.

◆ setCylinder()

void dart::dynamics::SoftBodyNodeHelper::setCylinder ( SoftBodyNode _softBodyNode,
double  _radius,
double  _height,
std::size_t  _nSlices,
std::size_t  _nStacks,
std::size_t  _nRings,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

This should be called before SoftBodyNode::init() is called.

◆ setEllipsoid()

void dart::dynamics::SoftBodyNodeHelper::setEllipsoid ( SoftBodyNode _softBodyNode,
const Eigen::Vector3d &  _size,
std::size_t  _nSlices,
std::size_t  _nStacks,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

This should be called before SoftBodyNode::init() is called.

◆ setSinglePointMass()

void dart::dynamics::SoftBodyNodeHelper::setSinglePointMass ( SoftBodyNode _softBodyNode,
double  _totalMass,
double  _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
double  _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
double  _dampingCoeff = DART_DEFAULT_DAMPING_COEFF 
)
static

This should be called before SoftBodyNode::init() is called.