SoftBodyNodeAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_
 
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/PointMass.hpp"
#include "dart/common/RequiresAspect.hpp"
 
namespace dart {
namespace dynamics {
 
const double DART_DEFAULT_VERTEX_STIFFNESS = 1.0;
const double DART_DEFAULT_EDGE_STIFNESS    = 1.0;
const double DART_DEFAULT_DAMPING_COEFF    = 0.01;
 
class SoftBodyNode;
class SoftMeshShape;
 
namespace detail {
 
//==============================================================================
class SoftBodyAspect;
 
//==============================================================================
struct SoftBodyNodeUniqueState
{
  std::vector<PointMass::State> mPointStates;
 
  virtual ~SoftBodyNodeUniqueState() = default;
};
 
//==============================================================================
struct SoftBodyNodeUniqueProperties
{
  double mKv;
 
  double mKe;
 
  double mDampCoeff;
 
  std::vector<PointMass::Properties> mPointProps;
 
  // TODO(JS): Let's remove this because this is rendering part
  std::vector<Eigen::Vector3i> mFaces;
 
  SoftBodyNodeUniqueProperties(
      double _Kv = DART_DEFAULT_VERTEX_STIFFNESS,
      double _Ke = DART_DEFAULT_EDGE_STIFNESS,
      double _DampCoeff = DART_DEFAULT_DAMPING_COEFF,
      const std::vector<PointMass::Properties>& _points =
                                        std::vector<PointMass::Properties>(),
      const std::vector<Eigen::Vector3i>& _faces =
                                        std::vector<Eigen::Vector3i>());
 
  virtual ~SoftBodyNodeUniqueProperties() = default;
 
  void addPointMass(const PointMass::Properties& _properties);
 
  bool connectPointMasses(std::size_t i1, std::size_t i2);
 
  void addFace(const Eigen::Vector3i& _newFace);
};
 
//==============================================================================
struct SoftBodyNodeProperties
    : BodyNode::Properties, SoftBodyNodeUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SoftBodyNodeProperties)
 
  SoftBodyNodeProperties(
      const BodyNode::Properties& _bodyProperties = BodyNode::Properties(),
      const SoftBodyNodeUniqueProperties& _softProperties =
                                          SoftBodyNodeUniqueProperties());
 
  virtual ~SoftBodyNodeProperties() = default;
};
 
//==============================================================================
using SoftBodyNodeBase = common::EmbedStateAndPropertiesOnTopOf<
    SoftBodyNode, SoftBodyNodeUniqueState, SoftBodyNodeUniqueProperties,
    BodyNode>;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_