imstk::PbdBody Struct Reference

Represents a pbd body in the model. This is a data only object. It does no function. PbdBody can be of different types. The types effect what properties it has. More...

#include <imstkPbdBody.h>

Public Types
enum	Type { DEFORMABLE, DEFORMABLE_ORIENTED, RIGID }

Public Member Functions
	PbdBody (const int handle)
void	deepCopy (const PbdBody &src)
	Deep copy from src, copying dynamic allocations by value.
bool	getOriented () const
	The body should have orientations if its DEFORMABLE_ORIENTED or RIGID.
void	setRigid (const Vec3d &pos, const double mass=1.0, const Quatd &orientation=Quatd::Identity(), const Mat3d &inertia=Mat3d::Identity())
void	setRigidVelocity (const Vec3d &velocity, const Vec3d &angularVelocity=Vec3d::Zero())
Vec3d	getRigidPosition ()
Quatd	getRigidOrientation ()
void	overrideRigidPositionAndOrientation (const Vec3d &pos, const Quatd &orientation)
	Override the current position and orientation this can be used to handle pauses, switching of tools or other action that need to transform the body without running through the physics. Can only be used on Rigid bodies.
void	overrideLinearAndAngularVelocity (const Vec3d &velocity, const Vec3d &angularVelocity)
	Override the current linear and angular velocity this can be used to handle pauses, switching of tools or other action that need to transform the body without running through the physics. Can only be used on Rigid bodies.

Public Attributes
int	bodyHandle
	Id in the system.
Type	bodyType = Type::DEFORMABLE
std::shared_ptr< VecDataArray< double, 3 > >	prevVertices
std::shared_ptr< VecDataArray< double, 3 > >	vertices
std::shared_ptr< VecDataArray< double, 3 > >	velocities
std::shared_ptr< DataArray< double > >	masses
std::shared_ptr< DataArray< double > >	invMasses
std::shared_ptr< StdVectorOfQuatd >	prevOrientations
std::shared_ptr< StdVectorOfQuatd >	orientations
std::shared_ptr< VecDataArray< double, 3 > >	angularVelocities
std::shared_ptr< StdVectorOfMat3d >	inertias
std::shared_ptr< StdVectorOfMat3d >	invInertias
std::vector< int >	fixedNodeIds
	Nodal/vertex IDs of the nodes that are fixed.
double	uniformMassValue = 1.0
	Mass properties, not used if per vertex masses are given in geometry attributes.
bool	bodyGravity = true
	Switch to activate/deactivate gravity for this Pbd Body. 1 is gravity on, 0 is gravity off.
Vec3d	externalForce = Vec3d::Zero()
Vec3d	externalTorque = Vec3d::Zero()
std::unordered_map< int, double >	fixedNodeInvMass
	Map for archiving fixed nodes' mass.
std::unordered_map< int, std::vector< std::shared_ptr< PbdConstraint > > >	cellConstraintMap

Detailed Description

Represents a pbd body in the model. This is a data only object. It does no function. PbdBody can be of different types. The types effect what properties it has.

A deformable PbdBody only uses vertices, velocities, & masses. A deformable oriented body uses all properties, adding orientations, angular velocities, and inertias. A rigid uses all properties but contains only one particle to represent the rigid body.

These may all be used together in constraints allowing things like distance constraints to not only function on an edge in a deformable mesh but also between two rigid bodies or even between two totally separate deformable meshes.

Definition at line 53 of file imstkPbdBody.h.

Member Data Documentation

cellConstraintMap

std::unordered_map<int, std::vector<std::shared_ptr<PbdConstraint> > > imstk::PbdBody::cellConstraintMap

Map for storing the constraints associated with a given cell useful for speeding up cell removal based on cell state

Definition at line 221 of file imstkPbdBody.h.

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The documentation for this struct was generated from the following file:

• Source/Constraint/PbdConstraints/imstkPbdBody.h