Package org.robwork.sdurw_models

Class DeformableObject

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw_models.Object

org.robwork.sdurw_models.DeformableObject

public class DeformableObject
extends Object

The deformable object is an object that contain a deformable mesh. Deformations
are part of the state object and they are modeled/controlled through control nodes.
each control node correspond to a vertice in the mesh. All vertices are described relative to
the base frame of the object.

Constructor Summary

Constructors

Constructor	Description
DeformableObject(long cPtr, boolean cMemoryOwn)
DeformableObject(FramePtr baseframe, int nr_of_nodes)	constructor - constructs a deformable mesh with a specific number of control nodes and without any faces.
DeformableObject(FramePtr baseframe, GeometryPtr geom)	constructor - control nodes are taken from a triangle mesh generated from triangulating the geometry.
DeformableObject(FramePtr baseframe, Model3DPtr model)	constructor - control nodes are taken as vertices in the Model3D.

Method Summary

Modifier and Type	Method	Description
void	addFace(long node1, long node2, long node3)	add a face to three existing nodes
void	delete()
Vector3D	getCOM(State state)	get center of mass of this object
static long	getCPtr(DeformableObject obj)
VectorIndexedTriangle	getFaces()	get all faces of this soft body
InertiaMatrixd	getInertia(State state)	returns the inertia matrix of this body calculated around COM with the orientation of the base frame.
double	getMass(State state)	get mass in Kg of this object
IndexedTriMesh_fPtr	getMesh(State cstate)	return a triangle mesh representing the softbody in the current state cstate
Vector3Df	getNode(int id, State state)	get a specific node from the state
long	getNrNodes()	get the number of controlling nodes of this deformable object.
long	getNrNodes(State state)	get the number of controlling nodes of this deformable object.
void	setNode(int id, Vector3Df v, State state)	set the value of a specific node in the state.
void	update(Model3DPtr model, State state)	updates the model with the current state of the deformable model

Methods inherited from class org.robwork.sdurw_models.Object

addFrame, getBase, getCPtr, getFrames, getGeometry, getGeometry, getModels, getModels, getName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DeformableObject

public DeformableObject(long cPtr,
                        boolean cMemoryOwn)

DeformableObject

public DeformableObject(FramePtr baseframe,
                        int nr_of_nodes)

constructor - constructs a deformable mesh with a specific number of control nodes
and without any faces. Both geometry and model are created based on nodes.

Parameters:

baseframe - [in] base frame of object

nr_of_nodes - [in] the number of controlling nodes in the deformable object

DeformableObject

public DeformableObject(FramePtr baseframe,
                        Model3DPtr model)

constructor - control nodes are taken as vertices in the Model3D. Vertices that
are equal are merged into the same control node. All faces of the model are used to
define faces of the deformable object.

geometry will be created based on model information

Note: only triangle faces are currently supported.

Parameters:

baseframe - [in] base frame of object

model - [in]

DeformableObject

public DeformableObject(FramePtr baseframe,
                        GeometryPtr geom)

constructor - control nodes are taken from a triangle mesh generated from
triangulating the geometry. Vertices that are equal are merged into the same control
node. All faces of the geometry are used to define faces of the deformable object.

model will be created based on geometry information

Parameters:

baseframe - [in] base frame of object

geom - [in] geometry to define the faces and nodes

Method Detail

getCPtr

public static long getCPtr(DeformableObject obj)

delete

public void delete()

Overrides:

delete in class Object

getNode

public Vector3Df getNode(int id,
                         State state)

get a specific node from the state

Parameters:

id - [in] id of the node to fetch

state - [in] current state

Returns:

handle to manipulate a node in the given state.

setNode

public void setNode(int id,
                    Vector3Df v,
                    State state)

set the value of a specific node in the state.

Parameters:

id - [in] id of the node

v - [in] value to set.

state - [in] state in which to set the value.

getNrNodes

public long getNrNodes(State state)

get the number of controlling nodes of this deformable object.

Parameters:

state - [in]

Returns:

Number of Nodes

getNrNodes

public long getNrNodes()

get the number of controlling nodes of this deformable object.

Returns:

Number of Nodes

getFaces

public VectorIndexedTriangle getFaces()

get all faces of this soft body

Returns:

list of indexed triangles - indeces point to vertices/nodes

addFace

public void addFace(long node1,
                    long node2,
                    long node3)

add a face to three existing nodes

Parameters:

node1 - [in] idx of node 1

node2 - [in] idx of node 2

node3 - [in] idx of node 3

getMesh

public IndexedTriMesh_fPtr getMesh(State cstate)

return a triangle mesh representing the softbody in the current state
cstate

Parameters:

cstate -

getMass

public double getMass(State state)

get mass in Kg of this object

Overrides:

getMass in class Object

Parameters:

state - [in] the state

Returns:

mass in kilo grams

getCOM

public Vector3D getCOM(State state)

get center of mass of this object

Overrides:

getCOM in class Object

Parameters:

state - [in] the state in which to get center of mass

Returns:

Position of COM

getInertia

public InertiaMatrixd getInertia(State state)

returns the inertia matrix of this body calculated around COM with the orientation
of the base frame.

Overrides:

getInertia in class Object

Parameters:

state - [in] the state to get the inertia in

Returns:

matrix with inertia

update

public void update(Model3DPtr model,
                   State state)

updates the model with the current state of the deformable model

Parameters:

model - [in/out] model to be updated

state -