16 #ifndef SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H 17 #define SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H 60 const std::array<std::array<std::array<SurgSim::Math::Vector3d, 2>, 2>, 2> extremities,
61 size_t numNodesPerDim[3],
62 std::vector<size_t> nodeBoundaryConditions,
64 double stiffnessStretching,
double dampingStretching,
65 double stiffnessBending,
double dampingBending,
66 double stiffnessFaceDiagonal,
double dampingFaceDiagonal,
67 double stiffnessVolumeDiagonal,
double dampingVolumeDiagonal);
75 size_t numNodesPerDim[3],
double stiffness,
double damping);
81 size_t numNodesPerDim[3],
double stiffness,
double damping);
87 size_t numNodesPerDim[3],
double stiffness,
double damping);
93 size_t numNodesPerDim[3],
double stiffness,
double damping);
100 #endif // SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H Definition: CompoundShapeToGraphics.cpp:29
void init3DStretchingSprings(const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[3], double stiffness, double damping)
Helper method to initialize/add all stretching springs on a 3D structure.
Definition: MassSpring3DRepresentation.cpp:30
void init3DBendingSprings(const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[3], double stiffness, double damping)
Helper method to initialize/add all bending springs on a 3D structure.
Definition: MassSpring3DRepresentation.cpp:79
MassSpring model is a deformable model (a set of masses connected by springs).
Definition: MassSpringRepresentation.h:38
Definition: MassSpring3DRepresentation.h:31
MassSpringRepresentation(const std::string &name)
Constructor.
Definition: MassSpringRepresentation.cpp:35
void init3DFaceDiagonalSprings(const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[3], double stiffness, double damping)
Helper method to initialize/add all face diagonal springs on a 3D structure.
Definition: MassSpring3DRepresentation.cpp:128
void init3D(const std::array< std::array< std::array< SurgSim::Math::Vector3d, 2 >, 2 >, 2 > extremities, size_t numNodesPerDim[3], std::vector< size_t > nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal, double stiffnessVolumeDiagonal, double dampingVolumeDiagonal)
Initializes a 3D model.
Definition: MassSpring3DRepresentation.cpp:211
void init3DVolumeDiagonalSprings(const std::shared_ptr< SurgSim::Math::OdeState > state, size_t numNodesPerDim[3], double stiffness, double damping)
Helper method to initialize/add all volume diagonal springs on a 3D structure.
Definition: MassSpring3DRepresentation.cpp:180
MassSpring3DRepresentation(const std::string &name)
Constructor.
Definition: MassSpring3DRepresentation.h:36