DART  6.10.1
dart::dynamics::detail::SoftBodyNodeProperties Struct Reference

#include <SoftBodyNodeAspect.hpp>

Inheritance diagram for dart::dynamics::detail::SoftBodyNodeProperties:
dart::common::detail::ComposeData< CompositeType, GetData, Aspects > dart::dynamics::detail::SoftBodyNodeUniqueProperties

Public Member Functions

 SoftBodyNodeProperties (const BodyNode::Properties &_bodyProperties=BodyNode::Properties(), const SoftBodyNodeUniqueProperties &_softProperties=SoftBodyNodeUniqueProperties())
 
virtual ~SoftBodyNodeProperties ()=default
 
void setFrom (const CompositeType &)
 
void addPointMass (const PointMass::Properties &_properties)
 Add a PointMass to this Properties struct. More...
 
bool connectPointMasses (std::size_t i1, std::size_t i2)
 Connect two PointMasses together in this Properties struct. More...
 
void addFace (const Eigen::Vector3i &_newFace)
 Add a face to this Properties struct. More...
 

Static Public Member Functions

template<typename... Args>
static std::shared_ptr< SoftBodyNodePropertiescreateShared (Args &&... args)
 

Public Attributes

double mKv
 Spring stiffness for vertex deformation restoring spring force of the point masses. More...
 
double mKe
 Spring stiffness for edge deformation restoring spring force of the point masses. More...
 
double mDampCoeff
 Damping coefficient. More...
 
std::vector< PointMass::PropertiesmPointProps
 Array of Properties for PointMasses. More...
 
std::vector< Eigen::Vector3i > mFaces
 Tri-mesh indexes for rendering. More...
 

Protected Member Functions

void _addData (CompositeType &) const
 

Constructor & Destructor Documentation

◆ SoftBodyNodeProperties()

dart::dynamics::detail::SoftBodyNodeProperties::SoftBodyNodeProperties ( const BodyNode::Properties _bodyProperties = BodyNode::Properties(),
const SoftBodyNodeUniqueProperties _softProperties = SoftBodyNodeUniqueProperties() 
)

◆ ~SoftBodyNodeProperties()

virtual dart::dynamics::detail::SoftBodyNodeProperties::~SoftBodyNodeProperties ( )
virtualdefault

Member Function Documentation

◆ _addData()

template<class CompositeType , template< class > class GetData, typename... Aspects>
void dart::common::detail::ComposeData< CompositeType, GetData, Aspects >::_addData ( CompositeType &  ) const
inlineprotectedinherited

◆ addFace()

void dart::dynamics::detail::SoftBodyNodeUniqueProperties::addFace ( const Eigen::Vector3i &  _newFace)
inherited

Add a face to this Properties struct.

◆ addPointMass()

void dart::dynamics::detail::SoftBodyNodeUniqueProperties::addPointMass ( const PointMass::Properties _properties)
inherited

Add a PointMass to this Properties struct.

◆ connectPointMasses()

bool dart::dynamics::detail::SoftBodyNodeUniqueProperties::connectPointMasses ( std::size_t  i1,
std::size_t  i2 
)
inherited

Connect two PointMasses together in this Properties struct.

◆ createShared()

template<typename... Args>
static std::shared_ptr< SoftBodyNodeProperties > dart::dynamics::detail::SoftBodyNodeProperties::createShared ( Args &&...  args)
inlinestatic

Create shared instance of this class

◆ setFrom()

template<class CompositeType , template< class > class GetData, typename... Aspects>
void dart::common::detail::ComposeData< CompositeType, GetData, Aspects >::setFrom ( const CompositeType &  )
inlineinherited

Member Data Documentation

◆ mDampCoeff

double dart::dynamics::detail::SoftBodyNodeUniqueProperties::mDampCoeff
inherited

Damping coefficient.

◆ mFaces

std::vector<Eigen::Vector3i> dart::dynamics::detail::SoftBodyNodeUniqueProperties::mFaces
inherited

Tri-mesh indexes for rendering.

◆ mKe

double dart::dynamics::detail::SoftBodyNodeUniqueProperties::mKe
inherited

Spring stiffness for edge deformation restoring spring force of the point masses.

◆ mKv

double dart::dynamics::detail::SoftBodyNodeUniqueProperties::mKv
inherited

Spring stiffness for vertex deformation restoring spring force of the point masses.

◆ mPointProps

std::vector<PointMass::Properties> dart::dynamics::detail::SoftBodyNodeUniqueProperties::mPointProps
inherited

Array of Properties for PointMasses.