DART  6.7.3
SoftMeshShape.hpp
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32 
33 #ifndef DART_DYNAMICS_SOFTMESHSHAPE_HPP_
34 #define DART_DYNAMICS_SOFTMESHSHAPE_HPP_
35 
36 #include <assimp/scene.h>
37 #include "dart/dynamics/Shape.hpp"
38 #include <Eigen/Dense>
39 
40 namespace dart {
41 namespace dynamics {
42 
43 class SoftBodyNode;
44 
45 // TODO(JS): Implement
46 class SoftMeshShape : public Shape
47 {
48 public:
49 
50  friend class SoftBodyNode;
51 
53  explicit SoftMeshShape(SoftBodyNode* _softBodyNode);
54 
56  virtual ~SoftMeshShape();
57 
58  // Documentation inherited.
59  const std::string& getType() const override;
60 
62  static const std::string& getStaticType();
63 
65  const aiMesh* getAssimpMesh() const;
66 
68  const SoftBodyNode* getSoftBodyNode() const;
69 
71  void update();
72 
73  // Documentation inherited.
74  Eigen::Matrix3d computeInertia(double mass) const override;
75 
76 protected:
77  // Documentation inherited.
78  void updateBoundingBox() const override;
79 
80  // Documentation inherited.
81  void updateVolume() const override;
82 
83 private:
85  void _buildMesh();
86 
89 
91  std::unique_ptr<aiMesh> mAssimpMesh;
92 };
93 
94 } // namespace dynamics
95 } // namespace dart
96 
97 #endif // DART_DYNAMICS_SOFTMESHSHAPE_HPP_
Definition: Shape.hpp:53
SoftBodyNode represent a soft body that has one deformable skin.
Definition: SoftBodyNode.hpp:46
Definition: SoftMeshShape.hpp:47
const std::string & getType() const override
Returns a string representing the shape type.
Definition: SoftMeshShape.cpp:61
void _buildMesh()
Build mesh using SoftBodyNode data.
Definition: SoftMeshShape.cpp:105
void updateVolume() const override
Updates volume.
Definition: SoftMeshShape.cpp:99
void updateBoundingBox() const override
Updates bounding box.
Definition: SoftMeshShape.cpp:92
const SoftBodyNode * getSoftBodyNode() const
Get the SoftBodyNode that is associated with this SoftMeshShape.
Definition: SoftMeshShape.cpp:78
SoftBodyNode * mSoftBodyNode
Definition: SoftMeshShape.hpp:88
std::unique_ptr< aiMesh > mAssimpMesh
Definition: SoftMeshShape.hpp:91
SoftMeshShape(SoftBodyNode *_softBodyNode)
Constructor.
Definition: SoftMeshShape.cpp:43
static const std::string & getStaticType()
Returns shape type for this class.
Definition: SoftMeshShape.cpp:67
Eigen::Matrix3d computeInertia(double mass) const override
Computes the inertia.
Definition: SoftMeshShape.cpp:83
virtual ~SoftMeshShape()
Destructor.
Definition: SoftMeshShape.cpp:55
const aiMesh * getAssimpMesh() const
Definition: SoftMeshShape.cpp:73
void update()
Update positions of the vertices using the parent soft body node.
Definition: SoftMeshShape.cpp:143
Definition: BulletCollisionDetector.cpp:63