frcsim::DeformableBody Class Reference

Rigid body with optional deformable mesh dynamics overlay. More...

#include <deformable_body.hpp>

Public Member Functions
	DeformableBody (double mass_kg=1.0)
	Constructs a rigid-body-based deformable body.
const RigidBody &	rigidBase () const
	Immutable access to underlying rigid body state and properties.
RigidBody &	rigidBase ()
	Mutable access to underlying rigid body.
void	enableDeformation (bool enable)
	Enables or disables deformation solving.
bool	isDeformationEnabled () const
	Returns whether deformation is currently enabled.
void	setBendStiffness (double stiffness_npm)
	Sets the bending stiffness for deformation resistance.
double	bendStiffness () const
	Returns bending stiffness in newtons per meter.
void	setWarpDamping (double damping_nspm)
	Sets the warp damping coefficient for deformation energy dissipation.
double	warpDamping () const
	Returns warp damping in newton-seconds per meter.
const std::vector< Vector3 > &	deformationNodes () const
	Immutable access to local-frame deformation node positions.
std::vector< Vector3 > &	deformationNodes ()
	Mutable access to local-frame deformation node positions.
const std::vector< Vector3 > &	deformationVelocities () const
	Immutable access to deformation node velocities.
std::vector< Vector3 > &	deformationVelocities ()
	Mutable access to deformation node velocities.

Detailed Description

Rigid body with optional deformable mesh dynamics overlay.

Extends rigid body behavior with per-node deformation tracking in local coordinates.

This is intentionally overkill for current use cases, but it keeps the future flex-body integration path explicit. TODO: Implement deformation solving during simulation substeps.

Constructor & Destructor Documentation

DeformableBody()

frcsim::DeformableBody::DeformableBody ( double mass_kg = 1.0 )

inlineexplicit

Constructs a rigid-body-based deformable body.

Parameters

mass_kg

Body mass in kilograms.

Member Function Documentation

bendStiffness()

double frcsim::DeformableBody::bendStiffness ( ) const

inline

Returns bending stiffness in newtons per meter.

deformationNodes() [1/2]

std::vector< Vector3 > & frcsim::DeformableBody::deformationNodes ( )

inline

Mutable access to local-frame deformation node positions.

Returns

Reference to vector of node positions in body-local coordinates.

deformationNodes() [2/2]

const std::vector< Vector3 > & frcsim::DeformableBody::deformationNodes ( ) const

inline

Immutable access to local-frame deformation node positions.

Returns

Const reference to vector of node positions in body-local coordinates.

Note

TODO: Populate with actual deformation mesh nodes during application setup.

deformationVelocities() [1/2]

std::vector< Vector3 > & frcsim::DeformableBody::deformationVelocities ( )

inline

Mutable access to deformation node velocities.

Returns

Reference to velocity vector for bending dynamics.

deformationVelocities() [2/2]

const std::vector< Vector3 > & frcsim::DeformableBody::deformationVelocities ( ) const

inline

Immutable access to deformation node velocities.

Returns

Const reference to velocity vector for bending dynamics.

enableDeformation()

void frcsim::DeformableBody::enableDeformation ( bool enable )

inline

Enables or disables deformation solving.

Parameters

enable

Whether deformation dynamics are active.

isDeformationEnabled()

bool frcsim::DeformableBody::isDeformationEnabled ( ) const

inline

Returns whether deformation is currently enabled.

rigidBase() [1/2]

RigidBody & frcsim::DeformableBody::rigidBase ( )

inline

Mutable access to underlying rigid body.

rigidBase() [2/2]

const RigidBody & frcsim::DeformableBody::rigidBase ( ) const

inline

Immutable access to underlying rigid body state and properties.

setBendStiffness()

void frcsim::DeformableBody::setBendStiffness ( double stiffness_npm )

inline

Sets the bending stiffness for deformation resistance.

Parameters

stiffness_npm

Stiffness in newtons per meter.

setWarpDamping()

void frcsim::DeformableBody::setWarpDamping ( double damping_nspm )

inline

Sets the warp damping coefficient for deformation energy dissipation.

Parameters

damping_nspm

Damping in newton-seconds per meter.

warpDamping()

double frcsim::DeformableBody::warpDamping ( ) const

inline

Returns warp damping in newton-seconds per meter.

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

• src/main/driver/include/frcsim/rigidbody/deformable_body.hpp