#include <PointMass.hpp>

Inheritance diagram for dart::dynamics::PointMass:

Classes
struct	Properties
	Properties for each PointMass. More...

struct	State
	State for each PointMass. More...

Public Member Functions
virtual	~PointMass ()
	Default destructor. More...

State &	getState ()
	State of this PointMass. More...

const State &	getState () const
	State of this PointMass. More...

std::size_t	getIndexInSoftBodyNode () const

void	setMass (double _mass)

double	getMass () const

double	getPsi () const

double	getImplicitPsi () const

double	getPi () const

double	getImplicitPi () const

void	addConnectedPointMass (PointMass *_pointMass)

std::size_t	getNumConnectedPointMasses () const

PointMass *	getConnectedPointMass (std::size_t _idx)

const PointMass *	getConnectedPointMass (std::size_t _idx) const

void	setColliding (bool _isColliding)
	Set whether this point mass is colliding with other objects. More...

bool	isColliding ()
	Return whether this point mass is set to be colliding with other objects. More...

std::size_t	getNumDofs () const

void	setPosition (std::size_t _index, double _position)

double	getPosition (std::size_t _index) const

void	setPositions (const Eigen::Vector3d &_positions)

const Eigen::Vector3d &	getPositions () const

void	resetPositions ()

void	setVelocity (std::size_t _index, double _velocity)

double	getVelocity (std::size_t _index) const

void	setVelocities (const Eigen::Vector3d &_velocities)

const Eigen::Vector3d &	getVelocities () const

void	resetVelocities ()

void	setAcceleration (std::size_t _index, double _acceleration)

double	getAcceleration (std::size_t _index) const

void	setAccelerations (const Eigen::Vector3d &_accelerations)

const Eigen::Vector3d &	getAccelerations () const

const Eigen::Vector3d &	getPartialAccelerations () const
	Get the Eta term of this PointMass. More...

void	resetAccelerations ()

void	setForce (std::size_t _index, double _force)

double	getForce (std::size_t _index)

void	setForces (const Eigen::Vector3d &_forces)

const Eigen::Vector3d &	getForces () const

void	resetForces ()

void	setVelocityChange (std::size_t _index, double _velocityChange)

double	getVelocityChange (std::size_t _index)

void	resetVelocityChanges ()

void	setConstraintImpulse (std::size_t _index, double _impulse)

double	getConstraintImpulse (std::size_t _index)

void	resetConstraintImpulses ()

void	integratePositions (double _dt)

void	integrateVelocities (double _dt)

void	addExtForce (const Eigen::Vector3d &_force, bool _isForceLocal=false)
	Add linear Cartesian force to this node. More...

void	clearExtForce ()

void	setConstraintImpulse (const Eigen::Vector3d &_constImp, bool _isLocal=false)
	Set constraint impulse. More...

void	addConstraintImpulse (const Eigen::Vector3d &_constImp, bool _isLocal=false)
	Add constraint impulse. More...

void	clearConstraintImpulse ()
	Clear constraint impulse. More...

Eigen::Vector3d	getConstraintImpulses () const
	Get constraint impulse. More...

void	setRestingPosition (const Eigen::Vector3d &_p)

const Eigen::Vector3d &	getRestingPosition () const

const Eigen::Vector3d &	getLocalPosition () const

const Eigen::Vector3d &	getWorldPosition () const

Eigen::Matrix< double, 3, Eigen::Dynamic >	getBodyJacobian ()

Eigen::Matrix< double, 3, Eigen::Dynamic >	getWorldJacobian ()

const Eigen::Vector3d &	getBodyVelocityChange () const
	Return velocity change due to impulse. More...

SoftBodyNode *	getParentSoftBodyNode ()

const SoftBodyNode *	getParentSoftBodyNode () const

const Eigen::Vector3d &	getBodyVelocity () const
	The number of the generalized coordinates by which this node is affected. More...

Eigen::Vector3d	getWorldVelocity () const
	Get the generalized velocity at the position of this point mass where the velocity is expressed in the world frame. More...

const Eigen::Vector3d &	getBodyAcceleration () const
	Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the parent soft body node frame. More...

Eigen::Vector3d	getWorldAcceleration () const
	Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the world frame. More...

Protected Member Functions
	PointMass (SoftBodyNode *_softBodyNode)
	Constructor used by SoftBodyNode. More...

void	init ()

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

Recursive dynamics routines
void	updateTransform () const
	Update transformation. More...

void	updateVelocity () const
	Update body velocity. More...

void	updatePartialAcceleration () const
	Update partial body acceleration due to parent joint's velocity. More...

void	updateArtInertiaFD (double _timeStep) const
	Update articulated body inertia. More...

void	updateBiasForceFD (double _dt, const Eigen::Vector3d &_gravity)
	Update bias force associated with the articulated body inertia. More...

void	updateBiasImpulseFD ()
	Update bias impulse associated with the articulated body inertia. More...

void	updateAccelerationID () const
	Update body acceleration with the partial body acceleration. More...

void	updateAccelerationFD ()
	Update body acceleration. Forward dynamics routine. More...

void	updateVelocityChangeFD ()
	Update body velocity change. More...

void	updateTransmittedForceID (const Eigen::Vector3d &_gravity, bool _withExternalForces=false)
	Update body force. Inverse dynamics routine. More...

void	updateTransmittedForce ()
	Update body force. Forward dynamics routine. More...

void	updateTransmittedImpulse ()
	Update body force. Impulse-based forward dynamics routine. More...

void	updateJointForceID (double _timeStep, double _withDampingForces, double _withSpringForces)
	Update the joint force. Inverse dynamics routine. More...

void	updateConstrainedTermsFD (double _timeStep)
	Update constrained terms due to the constraint impulses. More...

Equations of motion related routines
void	updateMassMatrix ()

void	aggregateMassMatrix (Eigen::MatrixXd &_MCol, int _col)

void	aggregateAugMassMatrix (Eigen::MatrixXd &_MCol, int _col, double _timeStep)

void	updateInvMassMatrix ()

void	updateInvAugMassMatrix ()

void	aggregateInvMassMatrix (Eigen::MatrixXd &_MInvCol, int _col)

void	aggregateInvAugMassMatrix (Eigen::MatrixXd &_MInvCol, int _col, double _timeStep)

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

void	updateCombinedVector ()

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

void	aggregateExternalForces (Eigen::VectorXd &_Fext)
	Aggregate the external forces mFext in the generalized coordinates recursively. More...

Protected Attributes
Eigen::Vector3d	mM_dV

Eigen::Vector3d	mM_F

Eigen::Vector3d	mBiasForceForInvMeta

Eigen::Vector3d	mG_F

Eigen::Vector3d	mCg_dV

Eigen::Vector3d	mCg_F

SoftBodyNode *	mParentSoftBodyNode
	SoftBodyNode that this PointMass belongs to. More...

std::size_t	mIndex
	Index of this PointMass within the SoftBodyNode. More...

Eigen::Vector3d	mPositionDeriv
	Derivatives w.r.t. an arbitrary scalr variable. More...

Eigen::Vector3d	mVelocitiesDeriv
	Derivatives w.r.t. an arbitrary scalr variable. More...

Eigen::Vector3d	mAccelerationsDeriv
	Derivatives w.r.t. an arbitrary scalr variable. More...

Eigen::Vector3d	mForcesDeriv
	Derivatives w.r.t. an arbitrary scalr variable. More...

Eigen::Vector3d	mVelocityChanges
	Change of generalized velocity. More...

Eigen::Vector3d	mConstraintImpulses
	Generalized constraint impulse. More...

Eigen::Vector3d	mW
	Current position viewed in world frame. More...

Eigen::Vector3d	mX
	Current position viewed in parent soft body node frame. More...

Eigen::Vector3d	mV
	Current velocity viewed in parent soft body node frame. More...

Eigen::Vector3d	mEta
	Partial Acceleration of this PointMass. More...

Eigen::Vector3d	mAlpha

Eigen::Vector3d	mBeta

Eigen::Vector3d	mA
	Current acceleration viewed in parent body node frame. More...

Eigen::Vector3d	mF

double	mPsi

double	mImplicitPsi

double	mPi

double	mImplicitPi

Eigen::Vector3d	mB
	Bias force. More...

Eigen::Vector3d	mFext
	External force. More...

std::vector< std::size_t >	mDependentGenCoordIndices
	A increasingly sorted list of dependent dof indices. More...

bool	mIsColliding
	Whether the node is currently in collision with another node. More...

Eigen::Vector3d	mDelV
	Velocity change due to constraint impulse. More...

Eigen::Vector3d	mImpB
	Impulsive bias force due to external impulsive force exerted on bodies of the parent skeleton. More...

Eigen::Vector3d	mImpAlpha
	Cache data for mImpB. More...

Eigen::Vector3d	mImpBeta
	Cache data for mImpB. More...

Eigen::Vector3d	mImpF
	Generalized impulsive body force w.r.t. body frame. More...

PointMassNotifier *	mNotifier

std::set< Observer * >	mObservers
	List of current Observers. More...

Friends
class	SoftBodyNode

Constructor & Destructor Documentation

◆ ~PointMass()

dart::dynamics::PointMass::~PointMass ( )

virtual

Default destructor.

◆ PointMass()

dart::dynamics::PointMass::PointMass ( SoftBodyNode * _softBodyNode )

explicitprotected

Constructor used by SoftBodyNode.

Member Function Documentation

◆ addConnectedPointMass()

void dart::dynamics::PointMass::addConnectedPointMass ( PointMass * _pointMass )

◆ addConstraintImpulse()

void dart::dynamics::PointMass::addConstraintImpulse	(	const Eigen::Vector3d &	_constImp,
		bool	_isLocal = `false`
	)

Add constraint impulse.

◆ addExtForce()

void dart::dynamics::PointMass::addExtForce	(	const Eigen::Vector3d &	_force,
		bool	_isForceLocal = `false`
	)

Add linear Cartesian force to this node.

Parameters

[in]	_force	External force.
[in]	_isForceLocal	True if _force's reference frame is of the parent soft body node. False if _force's reference frame is of the world.

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ aggregateAugMassMatrix()

void dart::dynamics::PointMass::aggregateAugMassMatrix	(	Eigen::MatrixXd &	_MCol,
		int	_col,
		double	_timeStep
	)

protected

◆ aggregateCombinedVector()

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

protected

◆ aggregateExternalForces()

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

protected

Aggregate the external forces mFext in the generalized coordinates recursively.

◆ aggregateGravityForceVector()

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

protected

◆ aggregateInvAugMassMatrix()

void dart::dynamics::PointMass::aggregateInvAugMassMatrix	(	Eigen::MatrixXd &	_MInvCol,
		int	_col,
		double	_timeStep
	)

protected

◆ aggregateInvMassMatrix()

void dart::dynamics::PointMass::aggregateInvMassMatrix	(	Eigen::MatrixXd &	_MInvCol,
		int	_col
	)

protected

◆ aggregateMassMatrix()

void dart::dynamics::PointMass::aggregateMassMatrix	(	Eigen::MatrixXd &	_MCol,
		int	_col
	)

protected

◆ clearConstraintImpulse()

void dart::dynamics::PointMass::clearConstraintImpulse ( )

Clear constraint impulse.

◆ clearExtForce()

void dart::dynamics::PointMass::clearExtForce ( )

◆ getAcceleration()

double dart::dynamics::PointMass::getAcceleration ( std::size_t _index ) const

◆ getAccelerations()

const Vector3d & dart::dynamics::PointMass::getAccelerations ( ) const

◆ getBodyAcceleration()

const Eigen::Vector3d & dart::dynamics::PointMass::getBodyAcceleration ( ) const

Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the parent soft body node frame.

◆ getBodyJacobian()

Eigen::Matrix< double, 3, Eigen::Dynamic > dart::dynamics::PointMass::getBodyJacobian ( )

◆ getBodyVelocity()

const Eigen::Vector3d & dart::dynamics::PointMass::getBodyVelocity ( ) const

The number of the generalized coordinates by which this node is affected.

Return a generalized coordinate index from the array index (< getNumDependentDofs). Get the generalized velocity at the position of this point mass where the velocity is expressed in the parent soft body node frame.

◆ getBodyVelocityChange()

const Eigen::Vector3d & dart::dynamics::PointMass::getBodyVelocityChange ( ) const

Return velocity change due to impulse.

◆ getConnectedPointMass() [1/2]

PointMass * dart::dynamics::PointMass::getConnectedPointMass ( std::size_t _idx )

◆ getConnectedPointMass() [2/2]

const PointMass * dart::dynamics::PointMass::getConnectedPointMass ( std::size_t _idx ) const

◆ getConstraintImpulse()

double dart::dynamics::PointMass::getConstraintImpulse ( std::size_t _index )

◆ getConstraintImpulses()

Eigen::Vector3d dart::dynamics::PointMass::getConstraintImpulses ( ) const

Get constraint impulse.

◆ getForce()

double dart::dynamics::PointMass::getForce ( std::size_t _index )

◆ getForces()

const Vector3d & dart::dynamics::PointMass::getForces ( ) const

◆ getImplicitPi()

double dart::dynamics::PointMass::getImplicitPi ( ) const

◆ getImplicitPsi()

double dart::dynamics::PointMass::getImplicitPsi ( ) const

◆ getIndexInSoftBodyNode()

std::size_t dart::dynamics::PointMass::getIndexInSoftBodyNode ( ) const

◆ getLocalPosition()

const Eigen::Vector3d & dart::dynamics::PointMass::getLocalPosition ( ) const

◆ getMass()

double dart::dynamics::PointMass::getMass ( ) const

◆ getNumConnectedPointMasses()

std::size_t dart::dynamics::PointMass::getNumConnectedPointMasses ( ) const

◆ getNumDofs()

std::size_t dart::dynamics::PointMass::getNumDofs ( ) const

◆ getParentSoftBodyNode() [1/2]

SoftBodyNode * dart::dynamics::PointMass::getParentSoftBodyNode ( )

◆ getParentSoftBodyNode() [2/2]

const SoftBodyNode * dart::dynamics::PointMass::getParentSoftBodyNode ( ) const

◆ getPartialAccelerations()

const Vector3d & dart::dynamics::PointMass::getPartialAccelerations ( ) const

Get the Eta term of this PointMass.

◆ getPi()

double dart::dynamics::PointMass::getPi ( ) const

◆ getPosition()

double dart::dynamics::PointMass::getPosition ( std::size_t _index ) const

◆ getPositions()

const Vector3d & dart::dynamics::PointMass::getPositions ( ) const

◆ getPsi()

double dart::dynamics::PointMass::getPsi ( ) const

◆ getRestingPosition()

const Eigen::Vector3d & dart::dynamics::PointMass::getRestingPosition ( ) const

◆ getState() [1/2]

PointMass::State & dart::dynamics::PointMass::getState ( )

State of this PointMass.

◆ getState() [2/2]

const PointMass::State & dart::dynamics::PointMass::getState ( ) const

State of this PointMass.

◆ getVelocities()

const Vector3d & dart::dynamics::PointMass::getVelocities ( ) const

◆ getVelocity()

double dart::dynamics::PointMass::getVelocity ( std::size_t _index ) const

◆ getVelocityChange()

double dart::dynamics::PointMass::getVelocityChange ( std::size_t _index )

◆ getWorldAcceleration()

Eigen::Vector3d dart::dynamics::PointMass::getWorldAcceleration ( ) const

Get the generalized acceleration at the position of this point mass where the acceleration is expressed in the world frame.

◆ getWorldJacobian()

Eigen::Matrix< double, 3, Eigen::Dynamic > dart::dynamics::PointMass::getWorldJacobian ( )

◆ getWorldPosition()

const Eigen::Vector3d & dart::dynamics::PointMass::getWorldPosition ( ) const

◆ getWorldVelocity()

Eigen::Vector3d dart::dynamics::PointMass::getWorldVelocity ( ) const

Get the generalized velocity at the position of this point mass where the velocity is expressed in the world frame.

◆ init()

void dart::dynamics::PointMass::init ( )

protected

◆ integratePositions()

void dart::dynamics::PointMass::integratePositions ( double _dt )

◆ integrateVelocities()

void dart::dynamics::PointMass::integrateVelocities ( double _dt )

◆ isColliding()

bool dart::dynamics::PointMass::isColliding ( )

Return whether this point mass is set to be colliding with other objects.

Returns: True if this point mass is colliding.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ resetAccelerations()

void dart::dynamics::PointMass::resetAccelerations ( )

◆ resetConstraintImpulses()

void dart::dynamics::PointMass::resetConstraintImpulses ( )

◆ resetForces()

void dart::dynamics::PointMass::resetForces ( )

◆ resetPositions()

void dart::dynamics::PointMass::resetPositions ( )

◆ resetVelocities()

void dart::dynamics::PointMass::resetVelocities ( )

◆ resetVelocityChanges()

void dart::dynamics::PointMass::resetVelocityChanges ( )

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setAcceleration()

void dart::dynamics::PointMass::setAcceleration	(	std::size_t	_index,
		double	_acceleration
	)

◆ setAccelerations()

void dart::dynamics::PointMass::setAccelerations ( const Eigen::Vector3d & _accelerations )

◆ setColliding()

void dart::dynamics::PointMass::setColliding ( bool _isColliding )

Set whether this point mass is colliding with other objects.

Note that this status is set by the constraint solver during dynamics simulation but not by collision detector.

Parameters

[in] True if this point mass is colliding.

◆ setConstraintImpulse() [1/2]

void dart::dynamics::PointMass::setConstraintImpulse	(	const Eigen::Vector3d &	_constImp,
		bool	_isLocal = `false`
	)

Set constraint impulse.

◆ setConstraintImpulse() [2/2]

void dart::dynamics::PointMass::setConstraintImpulse	(	std::size_t	_index,
		double	_impulse
	)

◆ setForce()

void dart::dynamics::PointMass::setForce	(	std::size_t	_index,
		double	_force
	)

◆ setForces()

void dart::dynamics::PointMass::setForces ( const Eigen::Vector3d & _forces )

◆ setMass()

void dart::dynamics::PointMass::setMass ( double _mass )

◆ setPosition()

void dart::dynamics::PointMass::setPosition	(	std::size_t	_index,
		double	_position
	)

◆ setPositions()

void dart::dynamics::PointMass::setPositions ( const Eigen::Vector3d & _positions )

◆ setRestingPosition()

void dart::dynamics::PointMass::setRestingPosition ( const Eigen::Vector3d & _p )

◆ setVelocities()

void dart::dynamics::PointMass::setVelocities ( const Eigen::Vector3d & _velocities )

◆ setVelocity()

void dart::dynamics::PointMass::setVelocity	(	std::size_t	_index,
		double	_velocity
	)

◆ setVelocityChange()

void dart::dynamics::PointMass::setVelocityChange	(	std::size_t	_index,
		double	_velocityChange
	)

◆ updateAccelerationFD()

void dart::dynamics::PointMass::updateAccelerationFD ( )

protected

Update body acceleration. Forward dynamics routine.

◆ updateAccelerationID()

void dart::dynamics::PointMass::updateAccelerationID ( ) const

protected

Update body acceleration with the partial body acceleration.

◆ updateArtInertiaFD()

void dart::dynamics::PointMass::updateArtInertiaFD ( double _timeStep ) const

protected

Update articulated body inertia.

Forward dynamics routine.

Parameters

[in] _timeStep Rquired for implicit joint stiffness and damping.

◆ updateBiasForceFD()

void dart::dynamics::PointMass::updateBiasForceFD	(	double	_dt,
		const Eigen::Vector3d &	_gravity
	)

protected

Update bias force associated with the articulated body inertia.

Forward dynamics routine.

Parameters

[in]	_gravity	Vector of gravitational acceleration
[in]	_timeStep	Rquired for implicit joint stiffness and damping.

◆ updateBiasImpulseFD()

void dart::dynamics::PointMass::updateBiasImpulseFD ( )

protected

Update bias impulse associated with the articulated body inertia.

Impulse-based forward dynamics routine.

◆ updateCombinedVector()

void dart::dynamics::PointMass::updateCombinedVector ( )

protected

◆ updateConstrainedTermsFD()

void dart::dynamics::PointMass::updateConstrainedTermsFD ( double _timeStep )

protected

Update constrained terms due to the constraint impulses.

Foward dynamics routine.

◆ updateInvAugMassMatrix()

void dart::dynamics::PointMass::updateInvAugMassMatrix ( )

protected

◆ updateInvMassMatrix()

void dart::dynamics::PointMass::updateInvMassMatrix ( )

protected

◆ updateJointForceID()

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

protected

Update the joint force. Inverse dynamics routine.

◆ updateMassMatrix()

void dart::dynamics::PointMass::updateMassMatrix ( )

protected

◆ updatePartialAcceleration()

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

protected

Update partial body acceleration due to parent joint's velocity.

◆ updateTransform()

void dart::dynamics::PointMass::updateTransform ( ) const

protected

Update transformation.

◆ updateTransmittedForce()

void dart::dynamics::PointMass::updateTransmittedForce ( )

protected

Update body force. Forward dynamics routine.

◆ updateTransmittedForceID()

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

protected

Update body force. Inverse dynamics routine.

◆ updateTransmittedImpulse()

void dart::dynamics::PointMass::updateTransmittedImpulse ( )

protected

Update body force. Impulse-based forward dynamics routine.

◆ updateVelocity()

void dart::dynamics::PointMass::updateVelocity ( ) const

protected

Update body velocity.

◆ updateVelocityChangeFD()

void dart::dynamics::PointMass::updateVelocityChangeFD ( )

protected

Update body velocity change.

Impluse-based forward dynamics routine.

Friends And Related Function Documentation

◆ SoftBodyNode

friend class SoftBodyNode

friend

Member Data Documentation

◆ mA

Eigen::Vector3d dart::dynamics::PointMass::mA

mutableprotected

Current acceleration viewed in parent body node frame.

◆ mAccelerationsDeriv

Eigen::Vector3d dart::dynamics::PointMass::mAccelerationsDeriv

protected

Derivatives w.r.t. an arbitrary scalr variable.

◆ mAlpha

Eigen::Vector3d dart::dynamics::PointMass::mAlpha

protected

◆ mB

Eigen::Vector3d dart::dynamics::PointMass::mB

protected

Bias force.

◆ mBeta

Eigen::Vector3d dart::dynamics::PointMass::mBeta

protected

◆ mBiasForceForInvMeta

Eigen::Vector3d dart::dynamics::PointMass::mBiasForceForInvMeta

protected

◆ mCg_dV

Eigen::Vector3d dart::dynamics::PointMass::mCg_dV

protected

◆ mCg_F

Eigen::Vector3d dart::dynamics::PointMass::mCg_F

protected

◆ mConstraintImpulses

Eigen::Vector3d dart::dynamics::PointMass::mConstraintImpulses

protected

Generalized constraint impulse.

◆ mDelV

Eigen::Vector3d dart::dynamics::PointMass::mDelV

protected

Velocity change due to constraint impulse.

◆ mDependentGenCoordIndices

std::vector<std::size_t> dart::dynamics::PointMass::mDependentGenCoordIndices

protected

A increasingly sorted list of dependent dof indices.

◆ mEta

Eigen::Vector3d dart::dynamics::PointMass::mEta

mutableprotected

Partial Acceleration of this PointMass.

◆ mF

Eigen::Vector3d dart::dynamics::PointMass::mF

protected

◆ mFext

Eigen::Vector3d dart::dynamics::PointMass::mFext

protected

External force.

◆ mForcesDeriv

Eigen::Vector3d dart::dynamics::PointMass::mForcesDeriv

protected

Derivatives w.r.t. an arbitrary scalr variable.

◆ mG_F

Eigen::Vector3d dart::dynamics::PointMass::mG_F

protected

◆ mImpAlpha

Eigen::Vector3d dart::dynamics::PointMass::mImpAlpha

protected

Cache data for mImpB.

◆ mImpB

Eigen::Vector3d dart::dynamics::PointMass::mImpB

protected

Impulsive bias force due to external impulsive force exerted on bodies of the parent skeleton.

◆ mImpBeta

Eigen::Vector3d dart::dynamics::PointMass::mImpBeta

protected

Cache data for mImpB.

◆ mImpF

Eigen::Vector3d dart::dynamics::PointMass::mImpF

protected

Generalized impulsive body force w.r.t. body frame.

◆ mImplicitPi

double dart::dynamics::PointMass::mImplicitPi

mutableprotected

◆ mImplicitPsi

double dart::dynamics::PointMass::mImplicitPsi

mutableprotected

◆ mIndex

std::size_t dart::dynamics::PointMass::mIndex

protected

Index of this PointMass within the SoftBodyNode.

◆ mIsColliding

bool dart::dynamics::PointMass::mIsColliding

protected

Whether the node is currently in collision with another node.

◆ mM_dV

Eigen::Vector3d dart::dynamics::PointMass::mM_dV

protected

◆ mM_F

Eigen::Vector3d dart::dynamics::PointMass::mM_F

protected

◆ mNotifier

PointMassNotifier* dart::dynamics::PointMass::mNotifier

protected

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mParentSoftBodyNode

SoftBodyNode* dart::dynamics::PointMass::mParentSoftBodyNode

protected

SoftBodyNode that this PointMass belongs to.

◆ mPi

double dart::dynamics::PointMass::mPi

mutableprotected

◆ mPositionDeriv

Eigen::Vector3d dart::dynamics::PointMass::mPositionDeriv

protected

Derivatives w.r.t. an arbitrary scalr variable.

◆ mPsi

double dart::dynamics::PointMass::mPsi

mutableprotected

◆ mV

Eigen::Vector3d dart::dynamics::PointMass::mV

mutableprotected

Current velocity viewed in parent soft body node frame.

◆ mVelocitiesDeriv

Eigen::Vector3d dart::dynamics::PointMass::mVelocitiesDeriv

protected

Derivatives w.r.t. an arbitrary scalr variable.

◆ mVelocityChanges

Eigen::Vector3d dart::dynamics::PointMass::mVelocityChanges

protected

Change of generalized velocity.

◆ mW

Eigen::Vector3d dart::dynamics::PointMass::mW

mutableprotected

Current position viewed in world frame.

◆ mX

Eigen::Vector3d dart::dynamics::PointMass::mX

mutableprotected

Current position viewed in parent soft body node frame.

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ ~PointMass()

◆ PointMass()

Member Function Documentation

◆ addConnectedPointMass()

◆ addConstraintImpulse()

◆ addExtForce()

◆ addObserver()

◆ aggregateAugMassMatrix()

◆ aggregateCombinedVector()

◆ aggregateExternalForces()

◆ aggregateGravityForceVector()

◆ aggregateInvAugMassMatrix()

◆ aggregateInvMassMatrix()

◆ aggregateMassMatrix()

◆ clearConstraintImpulse()

◆ clearExtForce()

◆ getAcceleration()

◆ getAccelerations()

◆ getBodyAcceleration()

◆ getBodyJacobian()

◆ getBodyVelocity()

◆ getBodyVelocityChange()

◆ getConnectedPointMass() [1/2]

◆ getConnectedPointMass() [2/2]

◆ getConstraintImpulse()

◆ getConstraintImpulses()

◆ getForce()

◆ getForces()

◆ getImplicitPi()

◆ getImplicitPsi()

◆ getIndexInSoftBodyNode()

◆ getLocalPosition()

◆ getMass()

◆ getNumConnectedPointMasses()

◆ getNumDofs()

◆ getParentSoftBodyNode() [1/2]

◆ getParentSoftBodyNode() [2/2]

◆ getPartialAccelerations()

◆ getPi()

◆ getPosition()

◆ getPositions()

◆ getPsi()

◆ getRestingPosition()

◆ getState() [1/2]

◆ getState() [2/2]

◆ getVelocities()

◆ getVelocity()

◆ getVelocityChange()

◆ getWorldAcceleration()

◆ getWorldJacobian()

◆ getWorldPosition()

◆ getWorldVelocity()

◆ init()

◆ integratePositions()

◆ integrateVelocities()

◆ isColliding()

◆ removeObserver()

◆ resetAccelerations()

◆ resetConstraintImpulses()

◆ resetForces()

◆ resetPositions()

◆ resetVelocities()

◆ resetVelocityChanges()

◆ sendDestructionNotification()

◆ setAcceleration()

◆ setAccelerations()

◆ setColliding()

◆ setConstraintImpulse() [1/2]

◆ setConstraintImpulse() [2/2]

◆ setForce()

◆ setForces()

◆ setMass()

◆ setPosition()

◆ setPositions()