MassSpring3DRepresentation.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
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13 // See the License for the specific language governing permissions and
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15 
16 #ifndef SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H
17 #define SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H
18 
19 #include <array>
20 #include <vector>
21 
23 
24 namespace SurgSim
25 {
26 
27 namespace Blocks
28 {
29 
30 // This class defines a simple MassSpring 3D structures
32 {
33 public:
36  explicit MassSpring3DRepresentation(const std::string& name) :
37  SurgSim::Physics::MassSpringRepresentation(name)
38  {
39  }
40 
59  void init3D(
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,
63  double totalMass,
64  double stiffnessStretching, double dampingStretching,
65  double stiffnessBending, double dampingBending,
66  double stiffnessFaceDiagonal, double dampingFaceDiagonal,
67  double stiffnessVolumeDiagonal, double dampingVolumeDiagonal);
68 
69 private:
74  void init3DStretchingSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
75  size_t numNodesPerDim[3], double stiffness, double damping);
80  void init3DBendingSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
81  size_t numNodesPerDim[3], double stiffness, double damping);
86  void init3DFaceDiagonalSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
87  size_t numNodesPerDim[3], double stiffness, double damping);
92  void init3DVolumeDiagonalSprings(const std::shared_ptr<SurgSim::Math::OdeState> state,
93  size_t numNodesPerDim[3], double stiffness, double damping);
94 };
95 
96 }; // namespace Blocks
97 
98 }; // namespace SurgSim
99 
100 #endif // SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H
SurgSim::Blocks::MassSpring3DRepresentation::init3DStretchingSprings
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
SurgSim::Blocks::MassSpring3DRepresentation
Definition: MassSpring3DRepresentation.h:31
SurgSim::Blocks::MassSpring3DRepresentation::init3DVolumeDiagonalSprings
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
SurgSim::Blocks::MassSpring3DRepresentation::init3D
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
SurgSim::Physics::MassSpringRepresentation
MassSpring model is a deformable model (a set of masses connected by springs).
Definition: MassSpringRepresentation.h:38
SurgSim::Physics::MassSpringRepresentation::MassSpringRepresentation
MassSpringRepresentation(const std::string &name)
Constructor.
Definition: MassSpringRepresentation.cpp:35
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Blocks::MassSpring3DRepresentation::init3DBendingSprings
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
MassSpringRepresentation.h
SurgSim::Blocks::MassSpring3DRepresentation::MassSpring3DRepresentation
MassSpring3DRepresentation(const std::string &name)
Constructor.
Definition: MassSpring3DRepresentation.h:36
string
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
SurgSim::Blocks::MassSpring3DRepresentation::init3DFaceDiagonalSprings
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