dart::dynamics::SoftBodyNode Class Reference

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

#include <SoftBodyNode.hpp>

Inheritance diagram for dart::dynamics::SoftBodyNode:

Public Types
using	UniqueProperties = detail::SoftBodyNodeUniqueProperties
using	Properties = detail::SoftBodyNodeProperties
using	Base = detail::SoftBodyNodeBase
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

Public Member Functions
bool	hasSoftBodyAspect () const
	Check if this Composite currently has SoftBodyAspect . More...
Aspect *	getSoftBodyAspect ()
	Get a(an) SoftBodyAspect from this Composite. More...
const Aspect *	getSoftBodyAspect () const
	Get a(an) SoftBodyAspect from this Composite. More...
Aspect *	getSoftBodyAspect (const bool createIfNull)
	Get a(an) SoftBodyAspect from this Composite. More...
void	setSoftBodyAspect (const Aspect *aspect)
	Make a clone of SoftBodyAspect and place the clone into this Composite. More...
void	setSoftBodyAspect (std::unique_ptr< Aspect > &&aspect)
	Use move semantics to place SoftBodyAspect into this Composite. More...
template<typename... Args>
Aspect *	createSoftBodyAspect (Args &&... args)
	Construct a(an) SoftBodyAspect inside of this Composite. More...
void	removeSoftBodyAspect ()
	Remove a(an) SoftBodyAspect from this Composite. More...
std::unique_ptr< Aspect >	releaseSoftBodyAspect ()
	Remove a(an) SoftBodyAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...
virtual	~SoftBodyNode ()
SoftBodyNode *	asSoftBodyNode () override
const SoftBodyNode *	asSoftBodyNode () const override
void	setProperties (const Properties &_properties)
	Set the Properties of this SoftBodyNode. More...
void	setProperties (const UniqueProperties &_properties)
	Set the Properties of this SoftBodyNode. More...
void	setAspectState (const AspectState &state)
	Set the AspectState of this SoftBodyNode. More...
void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this SoftBodyNode. More...
Properties	getSoftBodyNodeProperties () const
	Get the Properties of this SoftBodyNode. More...
void	copy (const SoftBodyNode &_otherSoftBodyNode)
	Copy the Properties of another SoftBodyNode. More...
void	copy (const SoftBodyNode *_otherSoftBodyNode)
	Copy the Properties of another SoftBodyNode. More...
SoftBodyNode &	operator= (const SoftBodyNode &_otherSoftBodyNode)
	Copy the Properties of another SoftBodyNode. More...
PointMassNotifier *	getNotifier ()
	Get the update notifier for the PointMasses of this SoftBodyNode. More...
const PointMassNotifier *	getNotifier () const
	Get the update notifier for the PointMasses of this SoftBodyNode. More...
double	getMass () const
	Get mass. More...
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. More...
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
std::shared_ptr< Skeleton >	getSkeleton ()
	Return the Skeleton this BodyNode belongs to. More...
std::shared_ptr< const Skeleton >	getSkeleton () const
	Return the (const) Skeleton this BodyNode belongs to. More...
const AspectProperties &	getAspectProperties () const
const AspectState &	getAspectState () const

Protected Member Functions
	SoftBodyNode (BodyNode *_parentBodyNode, Joint *_parentJoint, const Properties &_properties)
	Constructor called by Skeleton class. More...
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. More...
void	init (const SkeletonPtr &_skeleton) override
void	clearExternalForces () override
void	clearInternalForces () override
Recursive dynamics routines
void	checkArticulatedInertiaUpdate () const
	Update articulated inertia if necessary. More...
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. More...
PointMassNotifier *	mNotifier
	An Entity which tracks when the point masses need to be updated. More...
WeakShapeNodePtr	mSoftShapeNode
	Soft mesh shape belonging to this node. More...
math::Inertia	mI2
	Generalized inertia with point masses. More...
math::Inertia	mArtInertia2
math::Inertia	mArtInertiaImplicit2
AspectProperties	mAspectProperties
	Aspect::Properties data, directly accessible to your derived class. More...
AspectState	mAspectState
	Aspect::State data, directly accessible to your derived class. More...

Private Member Functions
void	_addPiToArtInertia (const Eigen::Vector3d &_p, double _Pi) const
void	_addPiToArtInertiaImplicit (const Eigen::Vector3d &_p, double _ImplicitPi) const
void	updateInertiaWithPointMass ()

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 Typedef Documentation

Aspect

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::Aspect = typename Impl::Aspect

inherited

AspectProperties

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectProperties = typename Impl::AspectProperties

inherited

AspectPropertiesData

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectPropertiesData = typename Impl::AspectPropertiesData

inherited

AspectState

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectState = typename Impl::AspectState

inherited

AspectStateData

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectStateData = typename Impl::AspectStateData

inherited

Base

using dart::dynamics::SoftBodyNode::Base = detail::SoftBodyNodeBase

Derived

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::Derived = typename Impl::Derived

inherited

Impl

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::Impl = EmbedStateAndProperties<DerivedT, StateDataT, PropertiesDataT>

inherited

Properties

using dart::dynamics::SoftBodyNode::Properties = detail::SoftBodyNodeProperties

UniqueProperties

using dart::dynamics::SoftBodyNode::UniqueProperties = detail::SoftBodyNodeUniqueProperties

Constructor & Destructor Documentation

~SoftBodyNode()

dart::dynamics::SoftBodyNode::~SoftBodyNode ( )

virtual

SoftBodyNode()

dart::dynamics::SoftBodyNode::SoftBodyNode ( BodyNode *  _parentBodyNode, Joint *  _parentJoint, const Properties &  _properties  )

protected

Constructor called by Skeleton class.

Member Function Documentation

_addPiToArtInertia()

void dart::dynamics::SoftBodyNode::_addPiToArtInertia ( const Eigen::Vector3d &  _p, double  _Pi  ) const

private

_addPiToArtInertiaImplicit()

void dart::dynamics::SoftBodyNode::_addPiToArtInertiaImplicit ( const Eigen::Vector3d &  _p, double  _ImplicitPi  ) const

private

addFace()

void dart::dynamics::SoftBodyNode::addFace

(

const Eigen::Vector3i &

_face

)

addPointMass()

PointMass * dart::dynamics::SoftBodyNode::addPointMass

(

const PointMass::Properties &

_properties

)

aggregateAugMassMatrix()

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

overrideprotected

aggregateCombinedVector()

void dart::dynamics::SoftBodyNode::aggregateCombinedVector ( Eigen::VectorXd &  _Cg, const Eigen::Vector3d &  _gravity  )

overrideprotected

aggregateCoriolisForceVector()

void dart::dynamics::SoftBodyNode::aggregateCoriolisForceVector ( Eigen::VectorXd &  _C )

overrideprotected

aggregateExternalForces()

void dart::dynamics::SoftBodyNode::aggregateExternalForces ( Eigen::VectorXd &  _Fext )

overrideprotected

aggregateGravityForceVector()

void dart::dynamics::SoftBodyNode::aggregateGravityForceVector ( Eigen::VectorXd &  _g, const Eigen::Vector3d &  _gravity  )

overrideprotected

aggregateInvAugMassMatrix()

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

overrideprotected

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

aggregateInvMassMatrix()

void dart::dynamics::SoftBodyNode::aggregateInvMassMatrix ( Eigen::MatrixXd &  _InvMCol, std::size_t  _col  )

overrideprotected

aggregateMassMatrix()

void dart::dynamics::SoftBodyNode::aggregateMassMatrix ( Eigen::MatrixXd &  _MCol, std::size_t  _col  )

overrideprotected

asSoftBodyNode() [1/2]

const SoftBodyNode * dart::dynamics::SoftBodyNode::asSoftBodyNode ( ) const

override

asSoftBodyNode() [2/2]

SoftBodyNode * dart::dynamics::SoftBodyNode::asSoftBodyNode ( )

override

checkArticulatedInertiaUpdate()

void dart::dynamics::SoftBodyNode::checkArticulatedInertiaUpdate ( ) const

protected

Update articulated inertia if necessary.

clearConstraintImpulse()

void dart::dynamics::SoftBodyNode::clearConstraintImpulse ( )

override

clearExternalForces()

void dart::dynamics::SoftBodyNode::clearExternalForces ( )

overrideprotected

clearInternalForces()

void dart::dynamics::SoftBodyNode::clearInternalForces ( )

overrideprotected

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.

configurePointMasses()

void dart::dynamics::SoftBodyNode::configurePointMasses ( ShapeNode *  softNode )

protected

Used by SoftBodyAspect to have this SoftBodyNode reconstruct its SoftMeshShape.

connectPointMasses()

void dart::dynamics::SoftBodyNode::connectPointMasses	(	std::size_t	_idx1,
		std::size_t	_idx2
	)

copy() [1/2]

void dart::dynamics::SoftBodyNode::copy

(

const SoftBodyNode &

_otherSoftBodyNode

)

Copy the Properties of another SoftBodyNode.

copy() [2/2]

void dart::dynamics::SoftBodyNode::copy

(

const SoftBodyNode *

_otherSoftBodyNode

)

Copy the Properties of another SoftBodyNode.

createSoftBodyAspect()

template<typename... Args>

Aspect* dart::dynamics::SoftBodyNode::createSoftBodyAspect ( Args &&...  args )

inline

Construct a(an) SoftBodyAspect inside of this Composite.

getAspectProperties()

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

const AspectProperties& dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::getAspectProperties

inlineinherited

getAspectState()

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

const AspectState& dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::getAspectState

inlineinherited

getDampingCoefficient()

double dart::dynamics::SoftBodyNode::getDampingCoefficient

(

)

const

getEdgeSpringStiffness()

double dart::dynamics::SoftBodyNode::getEdgeSpringStiffness

(

)

const

getFace()

const Eigen::Vector3i & dart::dynamics::SoftBodyNode::getFace

(

std::size_t

_idx

)

const

getMass()

double dart::dynamics::SoftBodyNode::getMass

(

)

const

Get mass.

getNotifier() [1/2]

PointMassNotifier * dart::dynamics::SoftBodyNode::getNotifier

(

)

Get the update notifier for the PointMasses of this SoftBodyNode.

getNotifier() [2/2]

const PointMassNotifier * dart::dynamics::SoftBodyNode::getNotifier

(

)

const

Get the update notifier for the PointMasses of this SoftBodyNode.

getNumFaces()

std::size_t dart::dynamics::SoftBodyNode::getNumFaces

(

)

const

getNumPointMasses()

std::size_t dart::dynamics::SoftBodyNode::getNumPointMasses

(

)

const

getPointMass() [1/2]

PointMass * dart::dynamics::SoftBodyNode::getPointMass

(

std::size_t

_idx

)

getPointMass() [2/2]

const PointMass * dart::dynamics::SoftBodyNode::getPointMass

(

std::size_t

_idx

)

const

getPointMasses()

const std::vector< PointMass * > & dart::dynamics::SoftBodyNode::getPointMasses

(

)

const

Return all the point masses in this SoftBodyNode.

getSkeleton() [1/2]

SkeletonPtr dart::dynamics::SkeletonRefCountingBase::getSkeleton

Return the Skeleton this BodyNode belongs to.

getSkeleton() [2/2]

ConstSkeletonPtr dart::dynamics::SkeletonRefCountingBase::getSkeleton

Return the (const) Skeleton this BodyNode belongs to.

getSoftBodyAspect() [1/3]

Aspect* dart::dynamics::SoftBodyNode::getSoftBodyAspect ( )

inline

Get a(an) SoftBodyAspect from this Composite.

getSoftBodyAspect() [2/3]

const Aspect* dart::dynamics::SoftBodyNode::getSoftBodyAspect ( ) const

inline

Get a(an) SoftBodyAspect from this Composite.

getSoftBodyAspect() [3/3]

Aspect* dart::dynamics::SoftBodyNode::getSoftBodyAspect ( const bool  createIfNull )

inline

Get a(an) SoftBodyAspect from this Composite.

If _createIfNull is true, then a(an) SoftBodyAspect will be generated if one does not already exist.

getSoftBodyNodeProperties()

SoftBodyNode::Properties dart::dynamics::SoftBodyNode::getSoftBodyNodeProperties

(

)

const

Get the Properties of this SoftBodyNode.

getVertexSpringStiffness()

double dart::dynamics::SoftBodyNode::getVertexSpringStiffness

(

)

const

hasSoftBodyAspect()

bool dart::dynamics::SoftBodyNode::hasSoftBodyAspect ( ) const

inline

Check if this Composite currently has SoftBodyAspect .

init()

void dart::dynamics::SoftBodyNode::init ( const SkeletonPtr &  _skeleton )

overrideprotected

operator=()

SoftBodyNode & dart::dynamics::SoftBodyNode::operator=

(

const SoftBodyNode &

_otherSoftBodyNode

)

Copy the Properties of another SoftBodyNode.

releaseSoftBodyAspect()

std::unique_ptr< Aspect > dart::dynamics::SoftBodyNode::releaseSoftBodyAspect ( )

inline

Remove a(an) SoftBodyAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

This allows you to safely use move semantics to transfer a(an) SoftBodyAspect between two Composites.

removeAllPointMasses()

void dart::dynamics::SoftBodyNode::removeAllPointMasses

(

)

removeSoftBodyAspect()

void dart::dynamics::SoftBodyNode::removeSoftBodyAspect ( )

inline

Remove a(an) SoftBodyAspect from this Composite.

setAspectProperties()

void dart::dynamics::SoftBodyNode::setAspectProperties

(

const AspectProperties &

properties

)

Set the AspectProperties of this SoftBodyNode.

setAspectState()

void dart::dynamics::SoftBodyNode::setAspectState

(

const AspectState &

state

)

Set the AspectState of this SoftBodyNode.

setDampingCoefficient()

void dart::dynamics::SoftBodyNode::setDampingCoefficient

(

double

_damp

)

setEdgeSpringStiffness()

void dart::dynamics::SoftBodyNode::setEdgeSpringStiffness

(

double

_ke

)

setProperties() [1/2]

void dart::dynamics::SoftBodyNode::setProperties

(

const Properties &

_properties

)

Set the Properties of this SoftBodyNode.

setProperties() [2/2]

void dart::dynamics::SoftBodyNode::setProperties

(

const UniqueProperties &

_properties

)

Set the Properties of this SoftBodyNode.

setSoftBodyAspect() [1/2]

void dart::dynamics::SoftBodyNode::setSoftBodyAspect ( const Aspect *  aspect )

inline

Make a clone of SoftBodyAspect and place the clone into this Composite.

If a(an) SoftBodyAspect already exists in this Composite, the existing SoftBodyAspect will be destroyed.

setSoftBodyAspect() [2/2]

void dart::dynamics::SoftBodyNode::setSoftBodyAspect ( std::unique_ptr< Aspect > &&  aspect )

inline

Use move semantics to place SoftBodyAspect into this Composite.

If a(an) SoftBodyAspect already exists in this Composite, the existing SoftBodyAspect will be destroyed.

setVertexSpringStiffness()

void dart::dynamics::SoftBodyNode::setVertexSpringStiffness

(

double

_kv

)

updateAccelerationFD()

void dart::dynamics::SoftBodyNode::updateAccelerationFD ( )

overrideprotected

updateAccelerationID()

void dart::dynamics::SoftBodyNode::updateAccelerationID ( )

overrideprotected

updateArtInertia()

void dart::dynamics::SoftBodyNode::updateArtInertia ( double  _timeStep ) const

overrideprotected

updateBiasForce()

void dart::dynamics::SoftBodyNode::updateBiasForce ( const Eigen::Vector3d &  _gravity, double  _timeStep  )

overrideprotected

updateBiasImpulse()

void dart::dynamics::SoftBodyNode::updateBiasImpulse ( )

overrideprotected

updateCombinedVector()

void dart::dynamics::SoftBodyNode::updateCombinedVector ( )

overrideprotected

updateConstrainedTerms()

void dart::dynamics::SoftBodyNode::updateConstrainedTerms ( double  _timeStep )

overrideprotected

updateInertiaWithPointMass()

void dart::dynamics::SoftBodyNode::updateInertiaWithPointMass ( )

private

updateInvAugMassMatrix()

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

overrideprotected

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

updateInvMassMatrix()

void dart::dynamics::SoftBodyNode::updateInvMassMatrix ( )

overrideprotected

updateJointForceFD()

void dart::dynamics::SoftBodyNode::updateJointForceFD ( double  _timeStep, bool  _withDampingForces, bool  _withSpringForces  )

overrideprotected

updateJointForceID()

void dart::dynamics::SoftBodyNode::updateJointForceID ( double  _timeStep, bool  _withDampingForces, bool  _withSpringForces  )

overrideprotected

updateJointImpulseFD()

void dart::dynamics::SoftBodyNode::updateJointImpulseFD ( )

overrideprotected

updateMassMatrix()

void dart::dynamics::SoftBodyNode::updateMassMatrix ( )

overrideprotected

updatePartialAcceleration()

void dart::dynamics::SoftBodyNode::updatePartialAcceleration ( ) const

overrideprotected

updateTransform()

void dart::dynamics::SoftBodyNode::updateTransform ( )

overrideprotected

updateTransmittedForceFD()

void dart::dynamics::SoftBodyNode::updateTransmittedForceFD ( )

overrideprotected

updateTransmittedForceID()

void dart::dynamics::SoftBodyNode::updateTransmittedForceID ( const Eigen::Vector3d &  _gravity, bool  _withExternalForces = false  )

overrideprotected

updateTransmittedImpulse()

void dart::dynamics::SoftBodyNode::updateTransmittedImpulse ( )

overrideprotected

updateVelocity()

void dart::dynamics::SoftBodyNode::updateVelocity ( )

overrideprotected

updateVelocityChangeFD()

void dart::dynamics::SoftBodyNode::updateVelocityChangeFD ( )

overrideprotected

Friends And Related Function Documentation

PointMass

friend class PointMass

friend

PointMassNotifier

friend class PointMassNotifier

friend

Skeleton

friend class Skeleton

friend

Member Data Documentation

mArtInertia2

math::Inertia dart::dynamics::SoftBodyNode::mArtInertia2

protected

mArtInertiaImplicit2

math::Inertia dart::dynamics::SoftBodyNode::mArtInertiaImplicit2

protected

mAspectProperties

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

AspectProperties dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::mAspectProperties

protectedinherited

Aspect::Properties data, directly accessible to your derived class.

mAspectState

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

AspectState dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::mAspectState

protectedinherited

Aspect::State data, directly accessible to your derived class.

mI2

math::Inertia dart::dynamics::SoftBodyNode::mI2

protected

Generalized inertia with point masses.

mNotifier

PointMassNotifier* dart::dynamics::SoftBodyNode::mNotifier

protected

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

mPointMasses

std::vector<PointMass*> dart::dynamics::SoftBodyNode::mPointMasses

protected

List of point masses composing deformable mesh.

mSoftShapeNode

WeakShapeNodePtr dart::dynamics::SoftBodyNode::mSoftShapeNode

protected

Soft mesh shape belonging to this node.