File softRobots.h

class softRobots

Public Functions

softRobots()

~softRobots()

void addLimb(const Vector3d &start, const Vector3d &end, int num_nodes, double rho, double rod_radius, double youngs_modulus, double poisson_ratio, double mu = 0.0)

void addLimb(const vector<Vector3d> &nodes, double rho, double rod_radius, double youngs_modulus, double poisson_ratio, double mu = 0.0)

void createJoint(int limb_idx, int node_idx)

void addToJoint(int joint_idx, int limb_idx, int node_idx)

void lockEdge(int limb_idx, int edge_idx)

void applyInitialVelocities(int limb_idx, const vector<Vector3d> &velocities)

void setup()

void addController(const shared_ptr<baseController> &controller)

Public Members

vector<shared_ptr<elasticRod>> limbs

vector<shared_ptr<elasticJoint>> joints

vector<shared_ptr<baseController>> controllers

Private Members

int num_limbs = 0