Deformable object containing a tetrahedron mesh and a set of algorithms. More...

#include <DeformableObject.h>

Inheritance diagram for agxModel::DeformableObject:

Classes
struct	BoxType
	Six tetrahedron mesh box type overload. More...

struct	CapsuleType
	Capsule tetrahedron mesh type overload. More...

struct	ConeType
	Cone tetrahedron mesh type overload. More...

struct	ConvexMeshType
	Generic convex mesh type overload. More...

struct	CylinderType
	Cylindrical tetrahedron mesh type overload. More...

struct	RectangularBeamType
	Rectangular beam model type overload. More...

struct	SphereType
	Spherical tetrahedron mesh type overload. More...

struct	SurfaceType
	Surface model type overload. More...

struct	TetGenType
	TetGen mesh type overload. More...

struct	TetrahedronType
	Single tetrahedron type overload. More...

Public Types
using	SingleTetrahedronPositions = std::array< agx::Vec3, 4u >

Public Types inherited from agxSDK::Assembly
enum	Type { ASSEMBLY , COLLECTION }
	Specifies the type an assembly is. More...

Public Member Functions
	DeformableObject (BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Construct given properties.

bool	add (IDeformableAlgorithm *algorithm)
	Associate a deformable algorithm to this deformable object.

virtual void	addGroup (agx::UInt32 id)
	Add group id to this deformable object.

virtual void	addGroup (const agx::Name &name)
	Add group name to this deformable object.

virtual agx::Vec2Vector	calculateSurfaceTextureCoordinates2D () const
	Calculates the texture coordinates u, v <-> [0, 1] for each surface vertex using object space box/planar mapping.

virtual agx::Vec3Vector	calculateSurfaceTextureCoordinates3D () const
	Calculates the texture coordinates u, v, w <-> [0, 1] for each surface vertex.

DVertexElement	findClosestSurfaceVertex (const agx::Vec3 &worldPoint, bool viaEdge=false) const
	Linear search through all surface vertices of this deformable object to find the closest surface vertex to the given world point.

DVertexElement	findClosestVertex (const agx::Vec3 &worldPoint, bool viaEdge=false) const
	Linear search through all vertices of this deformable object to find the closest vertex to the given world point.

template<typename T >
T *	getAlgorithm () const

IDeformableAlgorithm *	getAlgorithm (const agx::Name &name) const
	Finds the algorithm by its name.

agx::Vec3	getCmPosition () const
	Calculates, and returns the current center of mass of this deformable.

agx::Real	getCurrentVolume () const

virtual agx::UInt32	getDisabledCollisionGroupId () const

virtual bool	getEnableCollisions (const agx::RigidBody *rb) const

virtual bool	getEnableCollisions (const agxCollide::Geometry *geometry) const

agx::Real	getMass () const

virtual agx::Material *	getMaterial () const

DTetrahedronMesh &	getMesh ()

const DTetrahedronMesh &	getMesh () const

BeamModelProperties *	getProperties () const

DeformableObjectReferenceDataRef	getReferenceData () const
	Objects (e.g., bodies, geometries) of this deformable should be associated to this instance via this data.

agx::Real	getRestVolume () const

virtual agx::UInt32	getUniqueId () const

virtual bool	hasGroup (agx::UInt32 id) const

virtual bool	hasGroup (const agx::Name &name) const

virtual bool	initialize ()
	Initialize all elements of this deformable object given the mesh is valid.

bool	isInitialized () const

bool	remove (IDeformableAlgorithm *algorithm)
	Remove a deformable algorithm from this deformable object.

virtual void	removeGroup (agx::UInt32 id)
	Remove group id from this deformable object.

virtual void	removeGroup (const agx::Name &name)
	Remove group name from this deformable object.

virtual void	setEnableCollisions (agx::RigidBody *rb, bool enable)
	Enable/disable collisions between the rigid body and this deformable object.

virtual void	setEnableCollisions (agxCollide::Geometry *geometry, bool enable)
	Enable/disable collisions between the geometry and this deformable object.

virtual void	setMaterial (agx::Material *material)
	Assign new material to this deformable object.

void	setRigidVelocity (const agx::Vec3 &linearVelocity, const agx::Vec3 &angularVelocity)
	Calculates individual vertex velocities given input rigid linear- and angular velocity.

Public Member Functions inherited from agxSDK::DeformableObjectInstance
	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agxSDK::DeformableObjectInstance)

virtual void	onLastStep ()=0
	On last step event.

virtual void	onPostStep ()=0
	On post step event, before user event.

virtual void	onPreCollideStep ()=0
	On pre-collide step event, after user event, before collision detection.

virtual void	onPreStep ()=0
	On pre step event, after user event, before solver.

Public Member Functions inherited from agxSDK::Assembly
	Assembly ()
	Default constructor.

bool	add (agx::Constraint *constraint)
	Add a constraint to the assembly.

bool	add (agx::ContactMaterial *contactMaterial)
	Add a contact material to this assembly.

bool	add (agx::Emitter *emitter)
	Add an emitter to this assembly.

bool	add (agx::Interaction *interaction)
	Add an interaction to this assembly.

bool	add (agx::MergedBody *mergedBody)
	Add a MergedBody to this assembly.

bool	add (agx::ObserverFrame *observerFrame)
	Add an ObserverFrame to this assembly.

bool	add (agx::RigidBody *body)
	Add a rigid body to the assembly.

bool	add (agxCollide::Geometry *geometry)
	Add a geometry to the assembly.

bool	add (agxSDK::EventListener *listener)
	Add a listener to the assembly.

bool	add (agxSDK::TerrainInstance *terrainInstance)
	Add a TerrainInstance to this assembly.

bool	add (agxSDK::TerrainToolInstance *toolInstance)
	Add a TerrainToolInstance to this assembly.

bool	add (agxStream::Serializable *object)
	Add an object of type serialized.

bool	add (Assembly *assembly)
	Add another assembly as child to this assembly.

virtual void	addNotification (agxSDK::Simulation *)
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

virtual void	addNotification (Assembly *)
	Called when this assembly is added to another assembly.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::Assembly)

size_t	collect (agx::ConstraintRefVector &result, bool recursive=true)

size_t	collect (agx::EmitterRefVector &result, bool recursive=true)

size_t	collect (agx::InteractionRefVector &result, bool recursive=true)

size_t	collect (agx::MergedBodyRefVector &result, bool recursive=true)

size_t	collect (agx::ObserverFrameRefVector &result, bool recursive=true)

size_t	collect (agx::ParticleSystemRefVector &result, bool recursive=true)

size_t	collect (agx::RigidBodyRefVector &result, bool recursive=true)

size_t	collect (agxCollide::GeometryRefVector &result, bool recursive=true)

size_t	collect (agxSDK::AssemblyRefVector &result, bool recursive=true)

size_t	collect (agxSDK::EventListenerRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainInstanceRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainToolInstanceRefVector &result, bool recursive=true)

bool	empty () const

const AssemblyRefSetVector &	getAssemblies () const

agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Assembly.

const agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Assembly.

agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an Assembly matching the given uuid.

const agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an Assembly matching the given uuid.

agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Constraint.

template<typename T >
T *	getConstraint (const agx::Name &name, bool recursive=true)
	Find and return named Constraint of a template type, for example Hinge:

const agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Constraint.

template<typename T >
const T *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find and return named Constraint of a template type, for example Hinge:

agx::Constraint *	getConstraint (const agx::Uuid &uuid, bool recursive=true)
	Find and return a pointer to a Constraint with the given uuid.

const agx::Constraint *	getConstraint (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a pointer to a Constraint with the given uuid.

agx::Constraint1DOF *	getConstraint1DOF (const agx::Name &name, bool recursive=true)

agx::Constraint2DOF *	getConstraint2DOF (const agx::Name &name, bool recursive=true)

const agx::ConstraintRefSetVector &	getConstraints () const

const agx::EmitterRefSetVector &	getEmitters () const

const EventListenerRefSetVector &	getEventListeners () const

virtual agx::Frame *	getFrame ()
	Return a reference to the frame containing transformation and velocity information for this assembly.

virtual const agx::Frame *	getFrame () const

const agxCollide::GeometryRefSetVector &	getGeometries () const

agxCollide::Geometry *	getGeometry (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named collision Geometry.

const agxCollide::Geometry *	getGeometry (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named collision Geometry.

agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a Geometry matching the given uuid.

const agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a Geometry matching the given uuid.

const agx::InteractionRefSetVector &	getInteractions () const

agx::Vec3	getLocalPosition () const

agx::Quat	getLocalRotation () const

const agx::AffineMatrix4x4 &	getLocalTransform () const

const agx::MergedBodyRefSetVector &	getMergedBodies () const

agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an MergedBody matching the given uuid.

const agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an MergedBody matching the given uuid.

agx::Name	getName () const

agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrameRefSetVector &	getObserverFrames () const

Assembly *	getParent ()

const Assembly *	getParent () const

agx::Frame *	getParentFrame ()

const agx::Frame *	getParentFrame () const

const agx::ParticleSystemRefSetVector &	getParticleSystems () const

const agx::RigidBodyRefSetVector &	getRigidBodies () const

agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named RigidBody.

const agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named RigidBody.

agx::RigidBody *	getRigidBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

const agx::RigidBody *	getRigidBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

agxSDK::Simulation *	getSimulation ()

const agxSDK::Simulation *	getSimulation () const

agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstanceRefSetVector &	getTerrainInstances () const

agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstanceRefSetVector &	getTerrainToolInstances () const

Type	getType () const

bool	remove (agx::Constraint *constraint)
	Remove a constraint from this assembly (does not recurse down in tree).

bool	remove (agx::ContactMaterial *contactMaterial)
	Remove a contact material from this assembly.

bool	remove (agx::Emitter *emitter)
	Remove an emitter from this assembly.

bool	remove (agx::Interaction *interaction)
	Remove an interaction from this assembly.

bool	remove (agx::MergedBody *mergedBody)
	Remove a MergedBody from this assembly.

bool	remove (agx::ObserverFrame *observerFrame, bool resetParentFrame=true)
	Remove an ObserverFrame from this assembly.

bool	remove (agx::RigidBody *body, bool removeAssociatedGeometries=false, bool resetParentFrame=true)
	Remove a rigid body from this assembly (does not recurse down in tree).

bool	remove (agxCollide::Geometry *geometry, bool resetParentFrame=true)
	Remove a geometry from this assembly (does not recurse down in tree).

bool	remove (agxSDK::TerrainInstance *terrainInstance)
	Remove a TerrainInstance from this assembly.

bool	remove (agxSDK::TerrainToolInstance *toolInstance)
	Remove a TerrainToolInstance from this assembly.

bool	remove (Assembly *assembly, bool resetParentFrame=true)
	Remove a child assembly from a parent.

bool	remove (EventListener *listener)
	Remove an EventListener from the assembly.

virtual void	removeNotification (agxSDK::Simulation *)
	Called when this assembly is removed from a simulation.

virtual void	removeNotification (Assembly *)
	Called when this assembly is removed from another assembly.

bool	reset (bool resetParentFrame=true)
	If this assembly is not added to a simulation it will clear all added bodies etc.

virtual void	setAngularVelocity (const agx::Vec3 &velocity)
	Set the angular velocity (in world frame) recursively for all rigid bodies stored in assembly.

void	setLocalPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalPosition (const agx::Vec3 &p)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalTransform (const agx::AffineMatrix4x4 &matrix)
	Assign the local transformation matrix for this assembly, ignoring any eventual parent transformation.

void	setName (const agx::Name &name)
	Set the name of this Assembly.

bool	setParentFrame (agx::Frame *frame)
	Set the parent frame of this assembly's frame.

void	setPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the frame in world coordinates.

void	setPosition (const agx::Vec3 &p)
	Set the position of the frame in world coordinates.

void	setRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::OrthoMatrix3x3 &m)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to world frame.

void	setTransform (const agx::AffineMatrix4x4 &matrix)
	Set the transform of the assembly.

virtual void	setVelocity (const agx::Vec3 &velocity)
	Set the linear velocity (in world frame) recursively for all rigid bodies stored in assembly.

bool	transfer (agxSDK::Assembly *target)
	Transfer all the content from this assembly to the `target`, including name and transformation.

virtual void	traverse (AssemblyVisitor *visitor)
	Traverse the assembly tree recursively using a visitor.

virtual void	traverse (const AssemblyVisitor *visitor) const

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static DeformableObjectRef	create (BoxType tag, agx::Vec3 halfExtents, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create deformable box given half extents.

static DeformableObjectRef	create (CapsuleType tag, agx::Real radius, agx::Real length, agx::Real resolution, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create deformable capsule of given radius, length and resolution.

static DeformableObjectRef	create (ConeType tag, agx::Real topRadius, agx::Real bottomRadius, agx::Real height, agx::Real resolution, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create deformable cone of given top- and bottom radius, height and resolution.

static DeformableObjectRef	create (ConvexMeshType tag, agx::String filename, agx::Vec3 scale=agx::Vec3(1.0, 1.0, 1.0), BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create given supported mesh file format (note that tetgen has its own overload).

static DeformableObjectRef	create (ConvexMeshType tag, agxCollide::Mesh mesh, BeamModelProperties properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create given mesh instance.

static DeformableObjectRef	create (ConvexMeshType tag, const agx::Vec3Vector &convexVertices, const agx::UInt32Vector &convexTriangles, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create given convex mesh vertices and triangles.

static DeformableObjectRef	create (CylinderType tag, agx::Real radius, agx::Real length, agx::Real resolution, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create deformable cylinder of given radius, length and resolution.

static DeformableObjectRef	create (RectangularBeamType tag, agx::Vec3 startPosition, agx::Vec3 endPosition, agx::Real width, agx::Real height, size_t numSegments, BeamModelProperties *properties=nullptr, agx::Vec3 worldUpAxis=agx::Vec3::Z_AXIS())
	Reflects the function agxModel::Beam::create to create a beam with `resolution` segments, but constrained to be a rectangular model.

static DeformableObjectRef	create (SphereType tag, agx::Real radius, agx::Real resolution, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create deformable sphere given radius and resolution.

static DeformableObjectRef	create (SurfaceType tag, const agxCollide::HeightField heightfield, agx::Real baseThickness, BeamModelProperties properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create given heightfield instance and additional thickness.

static DeformableObjectRef	create (TetGenType tag, agx::String filename, agx::Vec3 scale=agx::Vec3(1.0, 1.0, 1.0), BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Create given TetGen files.

static DeformableObjectRef	create (TetrahedronType tag, SingleTetrahedronPositions positions, BeamModelProperties *properties=nullptr, agx::Real vertexMergeDistance=DefaultVertexMergeDistance)
	Creates a single deformable tetrahedron given four initial node positions.

static DeformableObject *	find (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find deformable instance given simulation and name.

static DeformableObject *	find (const agxSDK::Simulation *simulation, const agx::Uuid &uuid)
	Find deformable instance given simulation and unique id.

static agxModel::DeformableObjectPtrVector	findAll (const agxSDK::Simulation *simulation)
	Finds all agxModel::DeformableObject instances in the given simulation.

static agxModel::DeformableObjectPtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Finds all deformable instances given simulation and name.

static DeformableObject *	get (agx::RigidBody *rb)

static DeformableObject *	get (agxCollide::Geometry *geometry)

static const DeformableObject *	get (const agx::RigidBody *rb)

static const DeformableObject *	get (const agxCollide::Geometry *geometry)

Static Public Member Functions inherited from agxSDK::Assembly
static Assembly *	asAssembly (agxStream::Serializable *obj)

static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Static Public Attributes
static constexpr BoxType	Box {}
	Deformable box with six tetrahedrons: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Box, { 0.5, 0.5, 0.5 } );.

static constexpr CapsuleType	Capsule {}
	Deformable capsule: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Capsule, 0.5, // radius 1.5, // length 0.5, // resolution properties );.

static constexpr ConeType	Cone {}
	Deformable cone: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Cone, 0.0, // topRadius 0.3, // bottomRadius 0.7, // height 0.5, // resolution properties );.

static constexpr ConvexMeshType	ConvexMesh {}
	Generic convex surface mesh where each surface face is connected to a centroid vertex.

static constexpr CylinderType	Cylinder {}
	Deformable cylinder: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Cylinder, 0.5, // radius 1.5, // length 0.5, // resolution properties );.

static constexpr agx::Real	DefaultVertexMergeDistance = DTetrahedronMesh::DefaultVertexMergeDistance
	Default minimum distance between two vertices before they are considered identical: 1.0E-6.

static constexpr RectangularBeamType	RectangularBeam {}
	Segmented, deformable, rectangular beam: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::RectangularBeam, { 0, 0, 0 }, // startPosition { 4, 0, 0 }, // endPosition, 0.4, // width 0.6, // height, 8, // numSegments > 0 properties );.

static constexpr SphereType	Sphere {}
	Deformable sphere: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Sphere, 0.5, // radius 0.5, // resolution properties );.

static constexpr SurfaceType	Surface {}
	Volumetric surface model where the surface is extended below the lowest point to form a volume describing the deformable object: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Surface, heightfield, 0.15, // baseThickness >= 0.0 properties );.

static constexpr TetGenType	TetGen {}
	TetGen mesh stored in .node and .ele files: const auto tetGenFiles = "Path/To/TetGen/file"; // Expecting file.node and file.ele.

static constexpr TetrahedronType	Tetrahedron {}
	Deformable tetrahedron: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Tetrahedron, { agx::Vec3{ -0.5, 0.0, 0.0 }, agx::Vec3{ 0.0, 0.5, 0.0 }, agx::Vec3{ 0.0, -0.5, 0.0 }, agx::Vec3{ 0.0, 0.0, 0.5 } } );.

Additional Inherited Members
Protected Member Functions inherited from agxSDK::DeformableObjectInstance
virtual	~DeformableObjectInstance ()=default

Protected Member Functions inherited from agxSDK::Assembly
	Assembly (Type type)

virtual	~Assembly ()
	Destructor.

bool	addParticleSystem (agx::ParticleSystem *particleSystem)
	Add a particle system to this assembly.

void	addToSimulation (Simulation *simulation)

void	removeFromSimulation (Simulation *simulation)

bool	removeParticleSystem (agx::ParticleSystem *particleSystem)
	Remove a particle system from this assembly.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Deformable object containing a tetrahedron mesh and a set of algorithms.

Definition at line 37 of file DeformableObject.h.

Member Typedef Documentation

◆ SingleTetrahedronPositions

using agxModel::DeformableObject::SingleTetrahedronPositions = std::array<agx::Vec3, 4u>

Definition at line 40 of file DeformableObject.h.

Constructor & Destructor Documentation

◆ DeformableObject()

agxModel::DeformableObject::DeformableObject	(	BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

Construct given properties.

Parameters

properties	- model properties
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Member Function Documentation

◆ add()

bool agxModel::DeformableObject::add ( IDeformableAlgorithm * algorithm )

Associate a deformable algorithm to this deformable object.

Parameters

algorithm - deformable algorithm instance to add

Returns: true if added, false if nullptr or already part of this deformable object

◆ addGroup() [1/2]

virtual void agxModel::DeformableObject::addGroup ( agx::UInt32 id )

virtual

Add group id to this deformable object.

Parameters

id	- id to add

◆ addGroup() [2/2]

virtual void agxModel::DeformableObject::addGroup ( const agx::Name & name )

virtual

Add group name to this deformable object.

Parameters

name	- name to add

◆ calculateSurfaceTextureCoordinates2D()

virtual agx::Vec2Vector agxModel::DeformableObject::calculateSurfaceTextureCoordinates2D ( ) const

virtual

Calculates the texture coordinates u, v <-> [0, 1] for each surface vertex using object space box/planar mapping.

Note that the mesh has to be finalized before calling this method.

Returns: vector of surface vertex texture coordinates

◆ calculateSurfaceTextureCoordinates3D()

virtual agx::Vec3Vector agxModel::DeformableObject::calculateSurfaceTextureCoordinates3D ( ) const

virtual

Calculates the texture coordinates u, v, w <-> [0, 1] for each surface vertex.

Note that the mesh has to be finalized before calling this method.

Returns: vector of surface vertex texture coordinates (in 3D)

◆ create() [1/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	BoxType	tag,
		agx::Vec3	halfExtents,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create deformable box given half extents.

Parameters

tag	- pass `agxModel::DeformableObject::Box` to select this overload
halfExtents	- half extents of the deformable box
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [2/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	CapsuleType	tag,
		agx::Real	radius,
		agx::Real	length,
		agx::Real	resolution,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create deformable capsule of given radius, length and resolution.

The created capsule is centered at the origin with the capsule axis along the y axis.

With higher resolution, the more vertices (and tetrahedrons) are created. Resolution 1.0 is "very" high and 0.2 is low.

Parameters

tag	- pass `agxModel::DeformableObject::Capsule` to select this overload
radius	- radius of the capsule
length	- length of the capsule
resolution	- resolution of the mesh (> 0 where 1.0 is high resolution and 0.2 is low)
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [3/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	ConeType	tag,
		agx::Real	topRadius,
		agx::Real	bottomRadius,
		agx::Real	height,
		agx::Real	resolution,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create deformable cone of given top- and bottom radius, height and resolution.

The created cone is centered at bottom and is aligned with the y axis.

With higher resolution, the more vertices (and tetrahedrons) are created. Resolution 1.0 is "very" high and 0.2 is low.

Parameters

tag	- pass `agxModel::DeformableObject::Cone` to select this overload
topRadius	- radius at the top of the cone, >= 0.0
bottomRadius	- radius at the bottom of the cone, > 0.0
height	- height of the cone, > 0.0
resolution	- resolution of the mesh (> 0 where 1.0 is high resolution and 0.2 is low)
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [4/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	ConvexMeshType	tag,
		agx::String	filename,
		agx::Vec3	scale = `agx::Vec3(1.0, 1.0, 1.0)`,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create given supported mesh file format (note that tetgen has its own overload).

The loaded mesh is assumed to be convex, and if it isn't, the mesh boundary is likely to be violated.

Parameters

tag	- pass `agxModel::DeformableObject::ConvexMesh` to select this overload.
filename	- filename including path
scale	- scale of the read mesh
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [5/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	ConvexMeshType	tag,
		agxCollide::Mesh *	mesh,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create given mesh instance.

The mesh is assumed to be convex, and if it isn't, the mesh boundary is likely to be violated.

Parameters

tag	- pass `agxModel::DeformableObject::ConvexMesh` to select this overload.
mesh	- mesh instance
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [6/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	ConvexMeshType	tag,
		const agx::Vec3Vector &	convexVertices,
		const agx::UInt32Vector &	convexTriangles,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create given convex mesh vertices and triangles.

The mesh is assumed to be convex, and if it isn't, the mesh boundary is likely to be violated.

Parameters

tag	- pass `agxModel::DeformableObject::ConvexMesh` to select this overload.
convexVertices	- mesh vertices
convexTriangles	- mesh triangles
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [7/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	CylinderType	tag,
		agx::Real	radius,
		agx::Real	length,
		agx::Real	resolution,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create deformable cylinder of given radius, length and resolution.

The created cylinder is centered at the origin with the cylinder axis along the y axis.

With higher resolution, the more vertices (and tetrahedrons) are created. Resolution 1.0 is "very" high and 0.2 is low.

Parameters

tag	- pass `agxModel::DeformableObject::Cylinder` to select this overload
radius	- radius of the cylinder
length	- length of the cylinder
resolution	- resolution of the mesh (> 0 where 1.0 is high resolution and 0.2 is low)
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [8/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	RectangularBeamType	tag,
		agx::Vec3	startPosition,
		agx::Vec3	endPosition,
		agx::Real	width,
		agx::Real	height,
		size_t	numSegments,
		BeamModelProperties *	properties = `nullptr`,
		agx::Vec3	worldUpAxis = `agx::Vec3::Z_AXIS()`
	)

static

Reflects the function agxModel::Beam::create to create a beam with resolution segments, but constrained to be a rectangular model.

Parameters

tag	- pass `agxModel::DeformableObject::RectangularBeam` to select this overload.
startPosition	- start position of the beam
endPosition	- end position of the beam
width	- width of the rectangular beam
height	- height of the rectangular beam
numSegments	- number of segments along the beam
properties	- properties of the model
worldUpAxis	- world up axis the beam should align with

Returns: deformable object if valid, otherwise nullptr

◆ create() [9/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	SphereType	tag,
		agx::Real	radius,
		agx::Real	resolution,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create deformable sphere given radius and resolution.

With higher resolution, the more vertices (and tetrahedrons) are created. Resolution 1.0 is "very" high and 0.2 is low.

Parameters

tag	- pass `agxModel::DeformableObject::Sphere` to select this overload
radius	- radius of the sphere
resolution	- resolution of the mesh (> 0 where 1.0 is high resolution and 0.2 is low)
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [10/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	SurfaceType	tag,
		const agxCollide::HeightField *	heightfield,
		agx::Real	baseThickness,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create given heightfield instance and additional thickness.

Parameters

tag	- pass `agxModel::DeformableObject::Surface` to select this overload.
heightfield	- heightfield instance with surface data (not referenced, the data is copied)
baseThickness	- additional "thickness" >= 0.0 below the lowest height in the `heightfield`
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [11/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	TetGenType	tag,
		agx::String	filename,
		agx::Vec3	scale = `agx::Vec3(1.0, 1.0, 1.0)`,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Create given TetGen files.

The required files are ".node" (for initial vertex positions) and ".ele" (with the tetrahedron mesh definition).

Parameters

tag	- pass `agxModel::DeformableObject::TetGen` to select this overload.
filename	- filename including path
scale	- scale of the read model
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ create() [12/12]

static DeformableObjectRef agxModel::DeformableObject::create	(	TetrahedronType	tag,
		SingleTetrahedronPositions	positions,
		BeamModelProperties *	properties = `nullptr`,
		agx::Real	vertexMergeDistance = `DefaultVertexMergeDistance`
	)

static

Creates a single deformable tetrahedron given four initial node positions.

Parameters

tag	- pass `agxModel::DeformableObject::Tetrahedron` to select this overload
positions	- vertex array, size 4
properties	- properties of the model
vertexMergeDistance	- minimum distance between two vertices before they are considered identical

Returns: deformable object if valid, otherwise nullptr

◆ find() [1/2]

static DeformableObject * agxModel::DeformableObject::find	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find deformable instance given simulation and name.

Parameters

simulation	- simulation
name	- name of the deformable instance to find

Returns: deformable instance with given name if found - otherwise nullptr

◆ find() [2/2]

static DeformableObject * agxModel::DeformableObject::find	(	const agxSDK::Simulation *	simulation,
		const agx::Uuid &	uuid
	)

static

Find deformable instance given simulation and unique id.

Parameters

simulation	- simulation
uuid	- UUID of the deformable instance to find

Returns: deformable instance with given UUID if found - otherwise nullptr

◆ findAll() [1/2]

static agxModel::DeformableObjectPtrVector agxModel::DeformableObject::findAll ( const agxSDK::Simulation * simulation )

static

Finds all agxModel::DeformableObject instances in the given simulation.

Parameters

simulation - simulation

Returns: deformable instances found in the given simulation

◆ findAll() [2/2]

static agxModel::DeformableObjectPtrVector agxModel::DeformableObject::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Finds all deformable instances given simulation and name.

Parameters

simulation	- simulation
name	- name of deformable instances to find

Returns: deformable instances with given name

◆ findClosestSurfaceVertex()

DVertexElement agxModel::DeformableObject::findClosestSurfaceVertex	(	const agx::Vec3 &	worldPoint,
		bool	viaEdge = `false`
	)		const

Linear search through all surface vertices of this deformable object to find the closest surface vertex to the given world point.

Parameters

worldPoint	- any point in world
viaEdge	- true to find the closest vertex by first finding the closest edge to `worldPoint` and then the closest vertex to `worldPoint` on that edge, false (default) to just check against the three vertices of this face.

Returns: the closest vertex element to worldPoint

◆ findClosestVertex()

DVertexElement agxModel::DeformableObject::findClosestVertex	(	const agx::Vec3 &	worldPoint,
		bool	viaEdge = `false`
	)		const

Linear search through all vertices of this deformable object to find the closest vertex to the given world point.

Parameters

worldPoint	- any point in world
viaEdge	- true to find the closest vertex by first finding the closest edge to `worldPoint` and then the closest vertex to `worldPoint` on that edge, false (default) to just check against the three vertices of this face.

Returns: the closest vertex element to worldPoint

◆ get() [1/4]

static DeformableObject * agxModel::DeformableObject::get ( agx::RigidBody * rb )

static

Returns: the deformable object of the given rigid body if the rigid body is part of one

◆ get() [2/4]

static DeformableObject * agxModel::DeformableObject::get ( agxCollide::Geometry * geometry )

static

Returns: the deformable object of the given geometry if the geometry is part of one

◆ get() [3/4]

static const DeformableObject * agxModel::DeformableObject::get ( const agx::RigidBody * rb )

static

Returns: the deformable object of the given rigid body if the rigid body is part of one

◆ get() [4/4]

static const DeformableObject * agxModel::DeformableObject::get ( const agxCollide::Geometry * geometry )

static

Returns: the deformable object of the given geometry if the geometry is part of one

◆ getAlgorithm() [1/2]

template<typename T >

T * agxModel::DeformableObject::getAlgorithm

Returns: the deformable algorithm of the given type, nullptr if not present

Definition at line 790 of file DeformableObject.h.

◆ getAlgorithm() [2/2]

IDeformableAlgorithm * agxModel::DeformableObject::getAlgorithm ( const agx::Name & name ) const

Finds the algorithm by its name.

The names are by default the class name without namespace.

Parameters

name	- name of the algorithm to find

Returns: algorithm of given name if found, otherwise nullptr

◆ getCmPosition()

agx::Vec3 agxModel::DeformableObject::getCmPosition ( ) const

Calculates, and returns the current center of mass of this deformable.

Returns: the current center of mass of this deformable

◆ getCurrentVolume()

agx::Real agxModel::DeformableObject::getCurrentVolume ( ) const

Returns: the current volume of this deformable, if initialized - otherwise 0.0

◆ getDisabledCollisionGroupId()

virtual agx::UInt32 agxModel::DeformableObject::getDisabledCollisionGroupId ( ) const

virtual

Returns: the collision id of this deformable object

◆ getEnableCollisions() [1/2]

virtual bool agxModel::DeformableObject::getEnableCollisions ( const agx::RigidBody * rb ) const

virtual

Returns: true if collisions are enabled - otherwise false

◆ getEnableCollisions() [2/2]

virtual bool agxModel::DeformableObject::getEnableCollisions ( const agxCollide::Geometry * geometry ) const

virtual

Returns: true if collisions are enabled - otherwise false

◆ getMass()

agx::Real agxModel::DeformableObject::getMass ( ) const

Returns: the total mass of this deformable, if initialized - otherwise 0.0

◆ getMaterial()

virtual agx::Material * agxModel::DeformableObject::getMaterial ( ) const

virtual

Returns: the material of this deformable object

◆ getMesh() [1/2]

DTetrahedronMesh & agxModel::DeformableObject::getMesh ( )

Returns: the mesh of this deformable object

◆ getMesh() [2/2]

const DTetrahedronMesh & agxModel::DeformableObject::getMesh ( ) const

Returns: the mesh of this deformable object

◆ getProperties()

BeamModelProperties * agxModel::DeformableObject::getProperties ( ) const

Returns: the bulk properties of this deformable object

◆ getReferenceData()

DeformableObjectReferenceDataRef agxModel::DeformableObject::getReferenceData ( ) const

Objects (e.g., bodies, geometries) of this deformable should be associated to this instance via this data.

Returns: reference (to this deformable instance) data

◆ getRestVolume()

agx::Real agxModel::DeformableObject::getRestVolume ( ) const

Returns: the initial/rest volume of this deformable, if initialized - otherwise 0.0

◆ getUniqueId()

virtual agx::UInt32 agxModel::DeformableObject::getUniqueId ( ) const

virtual

Returns: the unique id of this deformable object

◆ hasGroup() [1/2]

virtual bool agxModel::DeformableObject::hasGroup ( agx::UInt32 id ) const

virtual

Returns: true if the id has been added to this deformable object - otherwise false

◆ hasGroup() [2/2]

virtual bool agxModel::DeformableObject::hasGroup ( const agx::Name & name ) const

virtual

Returns: true if the name has been added to this deformable object - otherwise false

◆ initialize()

virtual bool agxModel::DeformableObject::initialize ( )

virtual

Initialize all elements of this deformable object given the mesh is valid.

Initialization happens when this object is added to a simulation, i.e., calling this method is optional.

Returns: true if successfully initialized, otherwise false

◆ isInitialized()

bool agxModel::DeformableObject::isInitialized ( ) const

Returns: true if this deformable object has been initialized (has valid mesh), otherwise false

◆ remove()

bool agxModel::DeformableObject::remove ( IDeformableAlgorithm * algorithm )

Remove a deformable algorithm from this deformable object.

Parameters

algorithm - deformable algorithm instance to remove

Returns: true if removed, false if nullptr or not part of this deformable object

◆ removeGroup() [1/2]

virtual void agxModel::DeformableObject::removeGroup ( agx::UInt32 id )

virtual

Remove group id from this deformable object.

Parameters

id	- id to remove

◆ removeGroup() [2/2]

virtual void agxModel::DeformableObject::removeGroup ( const agx::Name & name )

virtual

Remove group name from this deformable object.

Parameters

name	- name to remove

◆ setEnableCollisions() [1/2]

virtual void agxModel::DeformableObject::setEnableCollisions	(	agx::RigidBody *	rb,
		bool	enable
	)

virtual

Enable/disable collisions between the rigid body and this deformable object.

Parameters

rb	- rigid body to enable/disable collisions with
enable	- true to enable, false to disable

◆ setEnableCollisions() [2/2]

virtual void agxModel::DeformableObject::setEnableCollisions	(	agxCollide::Geometry *	geometry,
		bool	enable
	)

virtual

Enable/disable collisions between the geometry and this deformable object.

Parameters

geometry	- geometry to enable/disable collisions with
enable	- true to enable, false to disable

◆ setMaterial()

virtual void agxModel::DeformableObject::setMaterial ( agx::Material * material )

virtual

Assign new material to this deformable object.

Parameters

material - new material

◆ setRigidVelocity()

void agxModel::DeformableObject::setRigidVelocity	(	const agx::Vec3 &	linearVelocity,
		const agx::Vec3 &	angularVelocity
	)

Calculates individual vertex velocities given input rigid linear- and angular velocity.

The current center of mass is used as center, and the vertex velocities becomes: v(x) = linearVelocity + angularVelocity x (v.getWorldPosition() - getCmPosition())

Parameters

linearVelocity	- linear velocity of the center of this deformable
angularVelocity	- angular velocity about the center of this deformable

Member Data Documentation

◆ Box

constexpr BoxType agxModel::DeformableObject::Box {}

staticconstexpr

Deformable box with six tetrahedrons: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Box, { 0.5, 0.5, 0.5 } );.

Definition at line 117 of file DeformableObject.h.

◆ Capsule

constexpr CapsuleType agxModel::DeformableObject::Capsule {}

staticconstexpr

Deformable capsule: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Capsule, 0.5, // radius 1.5, // length 0.5, // resolution properties );.

Definition at line 146 of file DeformableObject.h.

◆ Cone

constexpr ConeType agxModel::DeformableObject::Cone {}

staticconstexpr

Deformable cone: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Cone, 0.0, // topRadius 0.3, // bottomRadius 0.7, // height 0.5, // resolution properties );.

Definition at line 157 of file DeformableObject.h.

◆ ConvexMesh

constexpr ConvexMeshType agxModel::DeformableObject::ConvexMesh {}

staticconstexpr

Generic convex surface mesh where each surface face is connected to a centroid vertex.

auto deformable1 = agxModel::DeformableObject::create( agxModel::DeformableObject::ConvexMesh, filename, properties ); auto deformable2 = agxModel::DeformableObject::create( agxModel::DeformableObject::ConvexMesh, mesh, properties );

Definition at line 200 of file DeformableObject.h.

◆ Cylinder

constexpr CylinderType agxModel::DeformableObject::Cylinder {}

staticconstexpr

Deformable cylinder: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Cylinder, 0.5, // radius 1.5, // length 0.5, // resolution properties );.

Definition at line 136 of file DeformableObject.h.

◆ DefaultVertexMergeDistance

constexpr agx::Real agxModel::DeformableObject::DefaultVertexMergeDistance = DTetrahedronMesh::DefaultVertexMergeDistance

staticconstexpr

Default minimum distance between two vertices before they are considered identical: 1.0E-6.

Definition at line 47 of file DeformableObject.h.

◆ RectangularBeam

constexpr RectangularBeamType agxModel::DeformableObject::RectangularBeam {}

staticconstexpr

Segmented, deformable, rectangular beam: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::RectangularBeam, { 0, 0, 0 }, // startPosition { 4, 0, 0 }, // endPosition, 0.4, // width 0.6, // height, 8, // numSegments > 0 properties );.

Definition at line 179 of file DeformableObject.h.

◆ Sphere

constexpr SphereType agxModel::DeformableObject::Sphere {}

staticconstexpr

Deformable sphere: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Sphere, 0.5, // radius 0.5, // resolution properties );.

Definition at line 126 of file DeformableObject.h.

◆ Surface

constexpr SurfaceType agxModel::DeformableObject::Surface {}

staticconstexpr

Volumetric surface model where the surface is extended below the lowest point to form a volume describing the deformable object: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Surface, heightfield, 0.15, // baseThickness >= 0.0 properties );.

Definition at line 189 of file DeformableObject.h.

◆ TetGen

constexpr TetGenType agxModel::DeformableObject::TetGen {}

staticconstexpr

TetGen mesh stored in .node and .ele files: const auto tetGenFiles = "Path/To/TetGen/file"; // Expecting file.node and file.ele.

auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::TetGen, tetGenFiles, { 1.0, 1.0, 1.0 }, // scale properties );

Definition at line 167 of file DeformableObject.h.

◆ Tetrahedron

constexpr TetrahedronType agxModel::DeformableObject::Tetrahedron {}

staticconstexpr

Deformable tetrahedron: auto deformable = agxModel::DeformableObject::create( agxModel::DeformableObject::Tetrahedron, { agx::Vec3{ -0.5, 0.0, 0.0 }, agx::Vec3{ 0.0, 0.5, 0.0 }, agx::Vec3{ 0.0, -0.5, 0.0 }, agx::Vec3{ 0.0, 0.0, 0.5 } } );.

Definition at line 110 of file DeformableObject.h.

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

DeformableObject.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ SingleTetrahedronPositions

Constructor & Destructor Documentation

◆ DeformableObject()

Member Function Documentation

◆ add()

◆ addGroup() [1/2]

◆ addGroup() [2/2]

◆ calculateSurfaceTextureCoordinates2D()

◆ calculateSurfaceTextureCoordinates3D()

◆ create() [1/12]

◆ create() [2/12]

◆ create() [3/12]

◆ create() [4/12]

◆ create() [5/12]

◆ create() [6/12]

◆ create() [7/12]

◆ create() [8/12]

◆ create() [9/12]

◆ create() [10/12]

◆ create() [11/12]

◆ create() [12/12]

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/2]

◆ findAll() [2/2]

◆ findClosestSurfaceVertex()

◆ findClosestVertex()

◆ get() [1/4]

◆ get() [2/4]

◆ get() [3/4]

◆ get() [4/4]

◆ getAlgorithm() [1/2]

◆ getAlgorithm() [2/2]

◆ getCmPosition()

◆ getCurrentVolume()

◆ getDisabledCollisionGroupId()

◆ getEnableCollisions() [1/2]

◆ getEnableCollisions() [2/2]

◆ getMass()

◆ getMaterial()

◆ getMesh() [1/2]

◆ getMesh() [2/2]

◆ getProperties()

◆ getReferenceData()

◆ getRestVolume()

◆ getUniqueId()

◆ hasGroup() [1/2]

◆ hasGroup() [2/2]

◆ initialize()

◆ isInitialized()

◆ remove()

◆ removeGroup() [1/2]

◆ removeGroup() [2/2]

◆ setEnableCollisions() [1/2]

◆ setEnableCollisions() [2/2]

◆ setMaterial()

◆ setRigidVelocity()

Member Data Documentation

◆ Box

◆ Capsule

◆ Cone

◆ ConvexMesh

◆ Cylinder

◆ DefaultVertexMergeDistance

◆ RectangularBeam

◆ Sphere

◆ Surface

◆ TetGen

◆ Tetrahedron