1 /* 2 * Copyright (c) 2011-2021, The DART development contributors 3 * All rights reserved. 4 * 5 * The list of contributors can be found at: 6 * https://github.com/dartsim/dart/blob/master/LICENSE 7 * 8 * This file is provided under the following "BSD-style" License: 9 * Redistribution and use in source and binary forms, with or 10 * without modification, are permitted provided that the following 11 * conditions are met: 12 * * Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * * Redistributions in binary form must reproduce the above 15 * copyright notice, this list of conditions and the following 16 * disclaimer in the documentation and/or other materials provided 17 * with the distribution. 18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF 26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 * POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 #ifndef DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_ 34 #define DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_ 35 36 #include "dart/common/RequiresAspect.hpp" 37 #include "dart/dynamics/BodyNode.hpp" 38 #include "dart/dynamics/PointMass.hpp" 39 40 namespace dart { 41 namespace dynamics { 42 43 const double DART_DEFAULT_VERTEX_STIFFNESS = 1.0; 44 const double DART_DEFAULT_EDGE_STIFNESS = 1.0; 45 const double DART_DEFAULT_DAMPING_COEFF = 0.01; 46 47 class SoftBodyNode; 48 class SoftMeshShape; 49 50 namespace detail { 51 52 //============================================================================== 53 class SoftBodyAspect; 54 55 //============================================================================== 56 struct SoftBodyNodeUniqueState 57 { 58 /// Array of States for PointMasses 59 std::vector<PointMass::State> mPointStates; 60 61 virtual ~SoftBodyNodeUniqueState() = default; 62 }; 63 64 //============================================================================== 65 struct SoftBodyNodeUniqueProperties 66 { 67 /// Spring stiffness for vertex deformation restoring spring force of the 68 /// point masses 69 double mKv; 70 71 /// Spring stiffness for edge deformation restoring spring force of the 72 /// point masses 73 double mKe; 74 75 /// Damping coefficient 76 double mDampCoeff; 77 78 /// Array of Properties for PointMasses 79 std::vector<PointMass::Properties> mPointProps; 80 81 // TODO(JS): Let's remove this because this is rendering part 82 /// \brief Tri-mesh indexes for rendering. 83 std::vector<Eigen::Vector3i> mFaces; 84 85 SoftBodyNodeUniqueProperties( 86 double _Kv = DART_DEFAULT_VERTEX_STIFFNESS, 87 double _Ke = DART_DEFAULT_EDGE_STIFNESS, 88 double _DampCoeff = DART_DEFAULT_DAMPING_COEFF, 89 const std::vector<PointMass::Properties>& _points 90 = std::vector<PointMass::Properties>(), 91 const std::vector<Eigen::Vector3i>& _faces 92 = std::vector<Eigen::Vector3i>()); 93 94 virtual ~SoftBodyNodeUniqueProperties() = default; 95 96 /// Add a PointMass to this Properties struct 97 void addPointMass(const PointMass::Properties& _properties); 98 99 /// Connect two PointMasses together in this Properties struct 100 bool connectPointMasses(std::size_t i1, std::size_t i2); 101 102 /// Add a face to this Properties struct 103 void addFace(const Eigen::Vector3i& _newFace); 104 }; 105 106 //============================================================================== 107 struct SoftBodyNodeProperties : BodyNode::Properties, 108 SoftBodyNodeUniqueProperties 109 { 110 DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SoftBodyNodeProperties) 111 112 SoftBodyNodeProperties( 113 const BodyNode::Properties& _bodyProperties = BodyNode::Properties(), 114 const SoftBodyNodeUniqueProperties& _softProperties 115 = SoftBodyNodeUniqueProperties()); 116 117 virtual ~SoftBodyNodeProperties() = default; 118 }; 119 120 //============================================================================== 121 using SoftBodyNodeBase = common::EmbedStateAndPropertiesOnTopOf< 122 SoftBodyNode, 123 SoftBodyNodeUniqueState, 124 SoftBodyNodeUniqueProperties, 125 BodyNode>; 126 127 } // namespace detail 128 } // namespace dynamics 129 } // namespace dart 130 131 #endif // DART_DYNAMICS_DETAIL_SOFTBODYNODEASPECT_HPP_ 132