Multibody Tetrahedral Mesh System. More...

#include <MultibodyTetrahedralMeshSystem.h>

Public Types
using	IndexType = TIndex
	Index type used in the multibody system.

using	ScalarType = TScalar
	Scalar type used in the multibody system.

Public Member Functions
	MultibodyTetrahedralMeshSystem (Eigen::Ref< Eigen::Matrix< TScalar, 3, Eigen::Dynamic > > X, Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > > T)
	Construct a new Multibody Tetrahedral Mesh System object.

void	Construct (Eigen::Ref< Eigen::Matrix< TScalar, 3, Eigen::Dynamic > > X, Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > > T, TScalar muS=0.4, TScalar muD=0.2)
	Construct a new Multibody Tetrahedral Mesh System object.

Eigen::Index	NumBodies () const
	Get the number of bodies in the multibody system.

auto	ContactVerticesOf (IndexType o) const
	Get vertices of body `o`

auto	ContactEdgesOf (IndexType o) const
	Get edges of body `o`

auto	ContactTrianglesOf (IndexType o) const
	Get triangles of body `o`

template<class TDerivedT>
auto	TetrahedraOf (IndexType o, Eigen::DenseBase< TDerivedT > const &T) const
	Get tetrahedra of body `o`

template<class TDerivedX>
auto	ContactVertexPositionsOf (IndexType o, Eigen::DenseBase< TDerivedX > const &X) const
	Get vertex positions of body `o`

auto	BodyOfContactVertex (IndexType v) const
	Get the body associated with vertex `v`

auto	BodyOfContactEdge (IndexType e) const
	Get the body associated with edge `e`

auto	BodyOfContactTriangle (IndexType f) const
	Get the body associated with triangle `f`

template<class TDerivedT>
auto	BodyOfTetrahedron (IndexType t, Eigen::DenseBase< TDerivedT > const &T) const
	Get the body associated with tetrahedron `t`

Eigen::Index	NumContactVertices () const
	Get the number of contact vertices.

Eigen::Index	NumContactEdges () const
	Get the number of contact edges.

Eigen::Index	NumContactTriangles () const
	Get the number of contact triangles.

Eigen::Index	NumTetrahedra () const
	Get the number of tetrahedra.

auto	ContactVerticesRangeFor (IndexType o) const
	Get the range of contact vertices for body `o`

auto	ContactEdgesRangeFor (IndexType o) const
	Get the range of contact edges for body `o`

auto	ContactTrianglesRangeFor (IndexType o) const
	Get the range of contact triangles for body `o`

void	SetMaterial (IndexType o, TScalar muS, TScalar muD)
	Set the friction coefficients for body `o`

void	SetMaterial (TScalar muS, TScalar muD)
	Set the friction coefficients for all bodies.

auto	TetrahedraRangeFor (IndexType o) const
	Get the range of tetrahedra for body `o`

void	Serialize (io::Archive &archive) const
	Serialize the multibody tetrahedral mesh system to an HDF5 archive.

void	Deserialize (io::Archive &archive)
	Deserialize the multibody tetrahedral mesh system from an HDF5 archive.

Public Attributes
Eigen::Vector< TIndex, Eigen::Dynamic >	V
	`\|# contact vertices\| x 1` indices into mesh vertices

Eigen::Matrix< TIndex, 2, Eigen::Dynamic >	E
	`2 x \|# contact edges\|` edges into mesh vertices

Eigen::Matrix< TIndex, 3, Eigen::Dynamic >	F
	`3 x \|# contact triangles\|` triangles into mesh vertices

Eigen::Vector< TIndex, Eigen::Dynamic >	VP
	`\|# bodies + 1\| x 1` prefix sum of vertex pointers into `V`

Eigen::Vector< TIndex, Eigen::Dynamic >	EP
	`\|# bodies + 1\| x 1` prefix sum of edge pointers into `E`

Eigen::Vector< TIndex, Eigen::Dynamic >	FP
	`\|# bodies + 1\| x 1` prefix sum of triangle pointers into `F`

Eigen::Vector< TIndex, Eigen::Dynamic >	TP
	pointers into input tetrahedral mesh `T`

Eigen::Vector< TIndex, Eigen::Dynamic >	CC
	`\|# mesh vertices\| x 1` connected component map

Eigen::Matrix< TScalar, 2, Eigen::Dynamic >	muF
	coefficients at contact faces

Detailed Description

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>
struct pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >

Multibody Tetrahedral Mesh System.

Holds a common representation of a multibody system composed of tetrahedral meshes.

Constructor & Destructor Documentation

◆ MultibodyTetrahedralMeshSystem()

template<common::CIndex TIndex, common::CArithmetic TScalar>

pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::MultibodyTetrahedralMeshSystem	(	Eigen::Ref< Eigen::Matrix< TScalar, 3, Eigen::Dynamic > >	X,
		Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > >	T )

inline

Construct a new Multibody Tetrahedral Mesh System object.

Parameters

X	`3 x \|# mesh vertices\|` matrix of vertex positions
T	`4 x \|# tetrahedra\|` tetrahedral mesh elements/connectivity

Postcondition: The input mesh vertex positions and element indices will be sorted by body.

Member Function Documentation

◆ BodyOfContactEdge()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::BodyOfContactEdge ( IndexType e ) const

inline

Get the body associated with edge e

Parameters

e	Index of the edge

Returns: Body index of edge e

◆ BodyOfContactTriangle()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::BodyOfContactTriangle ( IndexType f ) const

inline

Get the body associated with triangle f

Parameters

f	Index of the triangle

Returns: Body index of triangle f

◆ BodyOfContactVertex()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::BodyOfContactVertex ( IndexType v ) const

inline

Get the body associated with vertex v

Parameters

v	Index of the vertex

Returns: Body index of vertex v

◆ BodyOfTetrahedron()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

template<class TDerivedT>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::BodyOfTetrahedron	(	IndexType	t,
		Eigen::DenseBase< TDerivedT > const &	T ) const

inline

Get the body associated with tetrahedron t

Parameters

t	Index of the tetrahedron
T	`4 x \|# tetrahedra\|` tetrahedral mesh elements/connectivity

Returns: Body index of tetrahedron t

◆ Construct()

template<common::CIndex TIndex, common::CArithmetic TScalar>

void pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::Construct	(	Eigen::Ref< Eigen::Matrix< TScalar, 3, Eigen::Dynamic > >	X,
		Eigen::Ref< Eigen::Matrix< IndexType, 4, Eigen::Dynamic > >	T,
		TScalar	muS = 0.4,
		TScalar	muD = 0.2 )

inline

Construct a new Multibody Tetrahedral Mesh System object.

Parameters

X	`3 x \|# mesh vertices\|` matrix of vertex positions
T	`4 x \|# tetrahedra\|` tetrahedral mesh elements/connectivity
muS	Uniform static friction coefficient
muD	Uniform dynamic friction coefficient

Postcondition: The input mesh vertex positions and element indices will be sorted by body.

◆ ContactEdgesOf()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactEdgesOf ( IndexType o ) const

inline

Get edges of body o

Parameters

o	Index of the body

Returns: 2 x |# contact edges of body o| edges into mesh vertices

◆ ContactEdgesRangeFor()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactEdgesRangeFor ( IndexType o ) const

inline

Get the range of contact edges for body o

Parameters

o	Index of the body

Returns: A tuple (ebegin, eend) containing the start (inclusive) and end (exclusive) indices of contact edges for body o

◆ ContactTrianglesOf()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactTrianglesOf ( IndexType o ) const

inline

Get triangles of body o

Parameters

o	Index of the body

Returns: 3 x |# contact triangles of body o| triangles into mesh vertices

◆ ContactTrianglesRangeFor()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactTrianglesRangeFor ( IndexType o ) const

inline

Get the range of contact triangles for body o

Parameters

o	Index of the body

Returns: A tuple (fbegin, fend) containing the start (inclusive) and end (exclusive) indices of contact triangles for body o

◆ ContactVertexPositionsOf()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

template<class TDerivedX>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactVertexPositionsOf	(	IndexType	o,
		Eigen::DenseBase< TDerivedX > const &	X ) const

inline

Get vertex positions of body o

Template Parameters

TDerivedX Eigen type of the input vertex positions

Parameters

o	Index of the body
X	`3 x \|# mesh vertices\|` matrix of vertex positions

Returns: 3 x |# contact vertices of body o| matrix of vertex positions

◆ ContactVerticesOf()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactVerticesOf ( IndexType o ) const

inline

Get vertices of body o

Parameters

o	Index of the body

Returns: |# contact vertices of body o| x 1 indices into mesh vertices

◆ ContactVerticesRangeFor()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::ContactVerticesRangeFor ( IndexType o ) const

inline

Get the range of contact vertices for body o

Parameters

o	Index of the body

Returns: A tuple (vbegin, vend) containing the start (inclusive) and end (exclusive) indices of contact vertices for body o

◆ Deserialize()

template<common::CIndex TIndex, common::CArithmetic TScalar>

void pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::Deserialize ( io::Archive & archive )

Deserialize the multibody tetrahedral mesh system from an HDF5 archive.

Parameters

archive The HDF5 archive to deserialize from

◆ NumBodies()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Index pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::NumBodies ( ) const

inline

Get the number of bodies in the multibody system.

Returns: The number of bodies

◆ NumContactEdges()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Index pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::NumContactEdges ( ) const

inline

Get the number of contact edges.

Returns: Number of contact edges

◆ NumContactTriangles()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Index pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::NumContactTriangles ( ) const

inline

Get the number of contact triangles.

Returns: Number of contact triangles

◆ NumContactVertices()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Index pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::NumContactVertices ( ) const

inline

Get the number of contact vertices.

Returns: Number of contact vertices

◆ NumTetrahedra()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Index pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::NumTetrahedra ( ) const

inline

Get the number of tetrahedra.

Returns: Number of tetrahedra

◆ Serialize()

template<common::CIndex TIndex, common::CArithmetic TScalar>

void pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::Serialize ( io::Archive & archive ) const

Serialize the multibody tetrahedral mesh system to an HDF5 archive.

Parameters

archive The HDF5 archive to serialize to

◆ SetMaterial() [1/2]

template<common::CIndex TIndex, common::CArithmetic TScalar>

void pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::SetMaterial	(	IndexType	o,
		TScalar	muS,
		TScalar	muD )

inline

Set the friction coefficients for body o

Parameters

o	Index of the body
muS	Static friction coefficient
muD	Dynamic friction coefficient

◆ SetMaterial() [2/2]

template<common::CIndex TIndex, common::CArithmetic TScalar>

void pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::SetMaterial	(	TScalar	muS,
		TScalar	muD )

inline

Set the friction coefficients for all bodies.

Parameters

muS	Static friction coefficient
muD	Dynamic friction coefficient

◆ TetrahedraOf()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

template<class TDerivedT>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::TetrahedraOf	(	IndexType	o,
		Eigen::DenseBase< TDerivedT > const &	T ) const

inline

Get tetrahedra of body o

Template Parameters

TDerivedT Eigen type of the input tetrahedral mesh

Parameters

o	Index of the body
T	`4 x \|# tetrahedra\|` tetrahedral mesh elements/connectivity

Returns: 4 x |# contact tetrahedra of body o| tetrahedra into input tetrahedral mesh T

◆ TetrahedraRangeFor()

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

auto pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::TetrahedraRangeFor ( IndexType o ) const

inline

Get the range of tetrahedra for body o

Parameters

o	Index of the body

Returns: A tuple (tbegin, tend) containing the start (inclusive) and end (exclusive) indices of tetrahedra for body o

Member Data Documentation

◆ muF

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Matrix<TScalar, 2, Eigen::Dynamic> pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::muF

coefficients at contact faces

2 x |# contact faces| matrix of static (row 0) and dynamic (row 1) friction

◆ TP

template<common::CIndex TIndex = Index, common::CArithmetic TScalar = Scalar>

Eigen::Vector<TIndex, Eigen::Dynamic> pbat::sim::contact::MultibodyTetrahedralMeshSystem< TIndex, TScalar >::TP

pointers into input tetrahedral mesh T

|# bodies + 1| x 1 prefix sum of tetrahedron

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

C:/git/PhysicsBasedAnimationToolkit/source/pbat/sim/contact/MultibodyTetrahedralMeshSystem.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MultibodyTetrahedralMeshSystem()

Member Function Documentation

◆ BodyOfContactEdge()

◆ BodyOfContactTriangle()

◆ BodyOfContactVertex()

◆ BodyOfTetrahedron()

◆ Construct()

◆ ContactEdgesOf()

◆ ContactEdgesRangeFor()

◆ ContactTrianglesOf()

◆ ContactTrianglesRangeFor()

◆ ContactVertexPositionsOf()

◆ ContactVerticesOf()

◆ ContactVerticesRangeFor()

◆ Deserialize()

◆ NumBodies()

◆ NumContactEdges()

◆ NumContactTriangles()

◆ NumContactVertices()

◆ NumTetrahedra()

◆ Serialize()

◆ SetMaterial() [1/2]

◆ SetMaterial() [2/2]

◆ TetrahedraOf()

◆ TetrahedraRangeFor()

Member Data Documentation

◆ muF

◆ TP