#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] _frags Number 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.

◆ 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.

Static Public Member Functions

Member Function Documentation

◆ makeBoxProperties() [1/2]

◆ makeBoxProperties() [2/2]

◆ makeCylinderProperties()

◆ makeEllipsoidProperties()

◆ makeSinglePointMassProperties()

◆ makeSphereProperties()

◆ setBox() [1/2]

◆ setBox() [2/2]

◆ setCylinder()

◆ setEllipsoid()

◆ setSinglePointMass()