DART  6.7.3
dart::dynamics::detail::SoftBodyNodeUniqueProperties Struct Reference

#include <SoftBodyNodeAspect.hpp>

Inheritance diagram for dart::dynamics::detail::SoftBodyNodeUniqueProperties:
dart::dynamics::detail::SoftBodyNodeProperties

Public Member Functions

 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)
 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...
 

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...
 

Constructor & Destructor Documentation

◆ SoftBodyNodeUniqueProperties()

dart::dynamics::detail::SoftBodyNodeUniqueProperties::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>() 
)

◆ ~SoftBodyNodeUniqueProperties()

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

Member Function Documentation

◆ addFace()

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

Add a face to this Properties struct.

◆ addPointMass()

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

Add a PointMass to this Properties struct.

◆ connectPointMasses()

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

Connect two PointMasses together in this Properties struct.

Member Data Documentation

◆ mDampCoeff

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

Damping coefficient.

◆ mFaces

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

Tri-mesh indexes for rendering.

◆ mKe

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

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

◆ mKv

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

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

◆ mPointProps

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

Array of Properties for PointMasses.