/usr/include/SurgSim/Blocks/MassSpring2DRepresentation.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_BLOCKS_MASSSPRING2DREPRESENTATION_H
#define SURGSIM_BLOCKS_MASSSPRING2DREPRESENTATION_H
#include <array>
#include <vector>
#include "SurgSim/Physics/MassSpringRepresentation.h"
namespace SurgSim
{
namespace Blocks
{
// This class defines a simple MassSpring 2D structures
class MassSpring2DRepresentation : public SurgSim::Physics::MassSpringRepresentation
{
public:
/// Constructor
/// \param name The name to assign to the model
explicit MassSpring2DRepresentation(const std::string& name) :
SurgSim::Physics::MassSpringRepresentation(name)
{
}
/// Initializes a 2D MassSpring
/// \param extremities 4 positions forming the extremities of the 2D regular model (4 corners)
/// \param numNodesPerDim The number of nodes to be created for each dimension (here 2)
/// \param nodeBoundaryConditions The list of all nodeId being boundary conditions (fixed node)
/// \param totalMass The total mass of the mass spring (evenly spread out on the masses)
/// \param stiffnessStretching, dampingStretching The spring param for all stretching springs (edges)
/// \param stiffnessBending, dampingBending The spring param for all bending springs (edges)
/// \param stiffnessFaceDiagonal, dampingFaceDiagonal The spring param for all face diagonal springs (faces)
/// \note Stretching springs are connecting neighbors, bending springs are connecting 1 node
/// \note to its 2nd degree neighbors, creating a bending force around the middle node.
/// \note Face diagonal springs aim at maintaining the area of a square
/// \note extremities are organized as follow:
/// \note [0][1] *---* [1][1]
/// \note | |
/// \note [0][0] *---* [1][0]
void init2D(const std::array<std::array<SurgSim::Math::Vector3d, 2>, 2> extremities,
size_t numNodesPerDim[2],
std::vector<size_t> nodeBoundaryConditions,
double totalMass,
double stiffnessStretching, double dampingStretching,
double stiffnessBending, double dampingBending,
double stiffnessFaceDiagonal, double dampingFaceDiagonal);
private:
/// Helper method to initialize/add all stretching springs on a 2D structure
/// \param state The state to initialize the springs with (rest lengths calculation)
/// \param numNodesPerDim The number of nodes on the 2 dimensions
/// \param stiffness, damping The spring parameters
void init2DStretchingSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
size_t numNodesPerDim[2], double stiffness, double damping);
/// Helper method to initialize/add all bending springs on a 2D structure
/// \param state The state to initialize the springs with (rest lengths calculation)
/// \param numNodesPerDim The number of nodes on the 2 dimensions
/// \param stiffness, damping The spring parameters
void init2DBendingSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
size_t numNodesPerDim[2], double stiffness, double damping);
/// Helper method to initialize/add all face diagonal springs on a 2D structure
/// \param state The state to initialize the springs with (rest lengths calculation)
/// \param numNodesPerDim The number of nodes on the 2 dimensions
/// \param stiffness, damping The spring parameters
void init2DFaceDiagonalSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
size_t numNodesPerDim[2], double stiffness, double damping);
};
}; // namespace Blocks
}; // namespace SurgSim
#endif // SURGSIM_BLOCKS_MASSSPRING2DREPRESENTATION_H
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