deformable_body.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include <vector>
 
#include "frcsim/math/matrix.hpp"
#include "frcsim/math/quaternion.hpp"
#include "frcsim/math/vector.hpp"
#include "frcsim/rigidbody/rigid_body.hpp"
 
namespace frcsim {

class DeformableBody {
 public:
  explicit DeformableBody(double mass_kg = 1.0) : rigid_base_(mass_kg) {}

  const RigidBody& rigidBase() const { return rigid_base_; }
  RigidBody& rigidBase() { return rigid_base_; }

  void enableDeformation(bool enable) { enable_deformation_ = enable; }
  bool isDeformationEnabled() const { return enable_deformation_; }

  void setBendStiffness(double stiffness_npm) {
    bend_stiffness_npm_ = stiffness_npm;
  }

  double bendStiffness() const { return bend_stiffness_npm_; }

  void setWarpDamping(double damping_nspm) {
    warp_damping_nspm_ = damping_nspm;
  }

  double warpDamping() const { return warp_damping_nspm_; }

  const std::vector<Vector3>& deformationNodes() const {
    return deformation_nodes_local_;
  }

  std::vector<Vector3>& deformationNodes() { return deformation_nodes_local_; }

  const std::vector<Vector3>& deformationVelocities() const {
    return deformation_velocities_;
  }

  std::vector<Vector3>& deformationVelocities() {
    return deformation_velocities_;
  }
 
 private:
  RigidBody rigid_base_;
  bool enable_deformation_{false};
  double bend_stiffness_npm_{100.0};
  double warp_damping_nspm_{10.0};
 
  // TODO: Populate with actual deformation mesh nodes during application setup.
  std::vector<Vector3> deformation_nodes_local_;
  std::vector<Vector3> deformation_velocities_;
};
 
}  // namespace frcsim