dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/SmartPointer.hpp

@@ -0,0 +1,185 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_SMARTPOINTER_HPP_
+#define DART_DYNAMICS_SMARTPOINTER_HPP_
+
+#include <dart/dynamics/detail/BodyNodePtr.hpp>
+#include <dart/dynamics/detail/DegreeOfFreedomPtr.hpp>
+#include <dart/dynamics/detail/InverseKinematicsPtr.hpp>
+#include <dart/dynamics/detail/JointPtr.hpp>
+#include <dart/dynamics/detail/NodePtr.hpp>
+
+#include <dart/common/SmartPointer.hpp>
+
+// This file is a lightweight means of providing the smart pointers which are
+// commonly used within the dart::dynamics namespace. It is 'lightweight' in the
+// sense that it does not depend on any types being fully defined, making this
+// header suitable for inclusion in other headers which might only want access
+// to the smart pointers without needing fully defined classes.
+
+namespace dart {
+namespace dynamics {
+
+DART_COMMON_DECLARE_SHARED_WEAK(ShapeFrame)
+DART_COMMON_DECLARE_SHARED_WEAK(SimpleFrame)
+
+DART_COMMON_DECLARE_SHARED_WEAK(NodeDestructor)
+
+//-----------------------------------------------------------------------------
+// Skeleton Smart Pointers
+//-----------------------------------------------------------------------------
+DART_COMMON_DECLARE_SHARED_WEAK(Skeleton)
+// These pointers will take the form of:
+// std::shared_ptr<Skeleton>        --> SkeletonPtr
+// std::shared_ptr<const Skeleton>  --> ConstSkeletonPtr
+// std::weak_ptr<Skeleton>          --> WeakSkeletonPtr
+// std::weak_ptr<const Skeleton>    --> WeakConstSkeletonPtr
+
+// MetaSkeleton smart pointers
+DART_COMMON_DECLARE_SHARED_WEAK(MetaSkeleton)
+
+// ReferentialSkeleton smart pointers
+DART_COMMON_DECLARE_SHARED_WEAK(ReferentialSkeleton)
+
+DART_COMMON_DECLARE_SHARED_WEAK(Group)
+DART_COMMON_DECLARE_SHARED_WEAK(Linkage)
+DART_COMMON_DECLARE_SHARED_WEAK(Branch)
+DART_COMMON_DECLARE_SHARED_WEAK(Chain)
+
+//-----------------------------------------------------------------------------
+// Shape Smart Pointers
+//-----------------------------------------------------------------------------
+DART_COMMON_DECLARE_SHARED_WEAK(Shape)
+DART_COMMON_DECLARE_SHARED_WEAK(ArrowShape)
+DART_COMMON_DECLARE_SHARED_WEAK(BoxShape)
+DART_COMMON_DECLARE_SHARED_WEAK(CylinderShape)
+DART_COMMON_DECLARE_SHARED_WEAK(EllipsoidShape)
+DART_COMMON_DECLARE_SHARED_WEAK(LineSegmentShape)
+DART_COMMON_DECLARE_SHARED_WEAK(MeshShape)
+DART_COMMON_DECLARE_SHARED_WEAK(PlaneShape)
+DART_COMMON_DECLARE_SHARED_WEAK(SoftMeshShape)
+
+//-----------------------------------------------------------------------------
+// BodyNode Smart Pointers
+//-----------------------------------------------------------------------------
+#define DART_DYNAMICS_MAKE_BODYNODEPTR(X)                                      \
+  class X;                                                                     \
+  using X##Ptr = TemplateBodyNodePtr<X>;                                       \
+  using Const##X##Ptr = TemplateBodyNodePtr<const X>;                          \
+  using Weak##X##Ptr = TemplateWeakBodyNodePtr<X>;                             \
+  using WeakConst##X##Ptr = TemplateWeakBodyNodePtr<const X>;
+
+// BodyNode smart pointers
+DART_DYNAMICS_MAKE_BODYNODEPTR(BodyNode)
+// These pointers will take the form of:
+// TemplateBodyNodePtr<BodyNode>            --> BodyNodePtr
+// TemplateBodyNodePtr<const BodyNode>      --> ConstBodyNodePtr
+// TemplateWeakBodyNodePtr<BodyNode>        --> WeakBodyNodePtr
+// TemplateWeakBodyNodePtr<const BodyNode>  --> WeakConstBodyNodePtr
+
+// SoftBodyNode smart pointers
+DART_DYNAMICS_MAKE_BODYNODEPTR(SoftBodyNode)
+
+//-----------------------------------------------------------------------------
+// BodyNode-dependent Smart Pointers
+//-----------------------------------------------------------------------------
+#define DART_DYNAMICS_MAKE_BN_DEPENDENT_PTR(X)                                 \
+  class X;                                                                     \
+  using X##Ptr = Template##X##Ptr<X, BodyNode>;                                \
+  using Const##X##Ptr = Template##X##Ptr<const X, const BodyNode>;             \
+  using Weak##X##Ptr = TemplateWeak##X##Ptr<X, BodyNode>;                      \
+  using WeakConst##X##Ptr = TemplateWeak##X##Ptr<const X, const BodyNode>;
+
+// Joint smart pointers
+DART_DYNAMICS_MAKE_BN_DEPENDENT_PTR(Joint)
+// These pointers will take the form of:
+// TemplateJointPtr<Joint>            --> JointPtr
+// TemplateJointPtr<const Joint>      --> ConstJointPtr
+// TemplateWeakJointPtr<Joint>        --> WeakJointPtr
+// TemplateWeakJointPtr<const Joint>  --> WeakConstJointPtr
+
+// DegreeOfFreedom smart pointers
+DART_DYNAMICS_MAKE_BN_DEPENDENT_PTR(DegreeOfFreedom)
+// These pointers will take the form of:
+// TemplateDegreeOfFreedomPtr<DegreeOfFreedom>       --> DegreeOfFreedomPtr
+// TemplateDegreeOfFreedomPtr<const DegreeOfFreedom> --> ConstDegreeOfFreedomPtr
+// TemplateWeakDegreeOfFreedomPtr<DegreeOfFreedom>   --> WeakDegreeOfFreedomPtr
+// TemplateWeakDegreeOfFreedomPtr<const DegreeOfFreedom>
+//                                               --> WeakConstDegreeOfFreedomPtr
+
+//-----------------------------------------------------------------------------
+// Node Smart Pointers
+//-----------------------------------------------------------------------------
+#define DART_DYNAMICS_MAKE_NODEPTR(X)                                          \
+  class X;                                                                     \
+  using X##Ptr = TemplateNodePtr<X, BodyNode>;                                 \
+  using Const##X##Ptr = TemplateNodePtr<const X, const BodyNode>;              \
+  using Weak##X##Ptr = TemplateWeakNodePtr<X, BodyNode>;                       \
+  using WeakConst##X##Ptr = TemplateWeakNodePtr<const X, const BodyNode>;
+
+DART_DYNAMICS_MAKE_NODEPTR(Node)
+// These pointers will take the form of:
+// TemplateNodePtr<Node>            --> NodePtr
+// TemplateNodePtr<const Node>      --> ConstNodePtr
+// TemplateWeakNodePtr<Node>        --> WeakNodePtr
+// TemplateWeakNodePtr<const Node>  --> WeakConstNodePtr
+
+DART_DYNAMICS_MAKE_NODEPTR(JacobianNode)
+
+DART_DYNAMICS_MAKE_NODEPTR(EndEffector)
+// These pointers will take the form of:
+// TemplateNodePtr<EndEffector>             --> EndEffectorPtr
+// TemplateNodePtr<const EndEffector>       --> ConstEndEffectorPtr
+// TemplateWeakNodePtr<EndEffector>         --> WeakEndEffectorPtr
+// TemplateWeakNodePtr<const EndEffector>   --> WeakConstEndEffectorPtr
+
+DART_DYNAMICS_MAKE_NODEPTR(ShapeNode)
+
+//-----------------------------------------------------------------------------
+// InverseKinematics Smart Pointers
+//-----------------------------------------------------------------------------
+#define DART_DYNAMICS_MAKE_IK_PTR(X)                                           \
+  class X;                                                                     \
+  using X##Ptr = TemplateInverseKinematicsPtr<X, JacobianNodePtr>;             \
+  using Const##X##Ptr                                                          \
+      = TemplateInverseKinematicsPtr<const X, ConstJacobianNodePtr>;           \
+  using Weak##X##Ptr = TemplateWeakInverseKinematicsPtr<X, JacobianNodePtr>;   \
+  using WeakConst##X##Ptr                                                      \
+      = TemplateWeakInverseKinematicsPtr<const X, ConstJacobianNodePtr>;
+
+DART_DYNAMICS_MAKE_IK_PTR(InverseKinematics)
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SMARTPOINTER_HPP_

include/dart/dynamics/SoftBodyNode.hpp

@@ -0,0 +1,472 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_SOFTBODYNODE_HPP_
+#define DART_DYNAMICS_SOFTBODYNODE_HPP_
+
+#include <dart/dynamics/detail/SoftBodyNodeAspect.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// SoftBodyNode represent a soft body that has one deformable skin
+///
+/// This class is implementation of Sumit Jain and C. Karen Liu's paper:
+/// http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/projects/softcontacts/index.html
+class SoftBodyNode : public detail::SoftBodyNodeBase
+{
+public:
+  using UniqueProperties = detail::SoftBodyNodeUniqueProperties;
+  using Properties = detail::SoftBodyNodeProperties;
+  using Base = detail::SoftBodyNodeBase;
+
+  friend class Skeleton;
+  friend class PointMass;
+  friend class PointMassNotifier;
+
+  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, SoftBodyAspect)
+
+  /// \brief
+  virtual ~SoftBodyNode();
+
+  // Documentation inherited
+  SoftBodyNode* asSoftBodyNode() override;
+
+  // Documentation inherited
+  const SoftBodyNode* asSoftBodyNode() const override;
+
+  /// Set the Properties of this SoftBodyNode
+  void setProperties(const Properties& _properties);
+
+  /// Set the Properties of this SoftBodyNode
+  void setProperties(const UniqueProperties& _properties);
+
+  /// Set the AspectState of this SoftBodyNode
+  void setAspectState(const AspectState& state);
+
+  /// Set the AspectProperties of this SoftBodyNode
+  void setAspectProperties(const AspectProperties& properties);
+
+  using SkeletonRefCountingBase::getSkeleton;
+
+  /// Get the Properties of this SoftBodyNode
+  Properties getSoftBodyNodeProperties() const;
+
+  /// Copy the Properties of another SoftBodyNode
+  void copy(const SoftBodyNode& _otherSoftBodyNode);
+
+  /// Copy the Properties of another SoftBodyNode
+  void copy(const SoftBodyNode* _otherSoftBodyNode);
+
+  /// Copy the Properties of another SoftBodyNode
+  SoftBodyNode& operator=(const SoftBodyNode& _otherSoftBodyNode);
+
+  /// Get the update notifier for the PointMasses of this SoftBodyNode
+  PointMassNotifier* getNotifier();
+
+  /// Get the update notifier for the PointMasses of this SoftBodyNode
+  const PointMassNotifier* getNotifier() const;
+
+  /// \brief Get mass.
+  double getMass() const;
+
+  /// \brief
+  void setVertexSpringStiffness(double _kv);
+
+  /// \brief
+  double getVertexSpringStiffness() const;
+
+  /// \brief
+  void setEdgeSpringStiffness(double _ke);
+
+  /// \brief
+  double getEdgeSpringStiffness() const;
+
+  /// \brief
+  void setDampingCoefficient(double _damp);
+
+  /// \brief
+  double getDampingCoefficient() const;
+
+  /// \brief
+  void removeAllPointMasses();
+
+  /// \brief
+  PointMass* addPointMass(const PointMass::Properties& _properties);
+
+  /// \brief
+  std::size_t getNumPointMasses() const;
+
+  /// \brief
+  PointMass* getPointMass(std::size_t _idx);
+
+  /// \brief
+  const PointMass* getPointMass(std::size_t _idx) const;
+
+  /// Return all the point masses in this SoftBodyNode
+  const std::vector<PointMass*>& getPointMasses() const;
+
+  /// \brief
+  void connectPointMasses(std::size_t _idx1, std::size_t _idx2);
+
+  /// \brief
+  void addFace(const Eigen::Vector3i& _face);
+
+  /// \brief
+  const Eigen::Vector3i& getFace(std::size_t _idx) const;
+
+  /// \brief
+  std::size_t getNumFaces() const;
+
+  // Documentation inherited.
+  void clearConstraintImpulse() override;
+
+protected:
+  /// Constructor called by Skeleton class
+  SoftBodyNode(
+      BodyNode* _parentBodyNode,
+      Joint* _parentJoint,
+      const Properties& _properties);
+
+  /// Create a clone of this SoftBodyNode. This may only be called by the
+  /// Skeleton class.
+  BodyNode* clone(
+      BodyNode* _parentBodyNode,
+      Joint* _parentJoint,
+      bool cloneNodes) const override;
+
+  /// Used by SoftBodyAspect to have this SoftBodyNode reconstruct its
+  /// SoftMeshShape
+  void configurePointMasses(ShapeNode* softNode);
+
+  //--------------------------------------------------------------------------
+  // Sub-functions for Recursive Kinematics Algorithms
+  //--------------------------------------------------------------------------
+  // Documentation inherited.
+  void init(const SkeletonPtr& _skeleton) override;
+
+  // Documentation inherited.
+  //  virtual void aggregateGenCoords(std::vector<GenCoord*>* _genCoords);
+
+  // Documentation inherited.
+  //  virtual void aggregatePointMassGenCoords(std::vector<GenCoord*>*
+  //  _genCoords);
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Recursive dynamics routines
+  //----------------------------------------------------------------------------
+
+  /// Update articulated inertia if necessary
+  void checkArticulatedInertiaUpdate() const;
+
+  // Documentation inherited.
+  void updateTransform() override;
+
+  // Documentation inherited.
+  void updateVelocity() override;
+
+  // Documentation inherited.
+  void updatePartialAcceleration() const override;
+
+  // Documentation inherited.
+  void updateArtInertia(double _timeStep) const override;
+
+  // Documentation inherited.
+  void updateBiasForce(
+      const Eigen::Vector3d& _gravity, double _timeStep) override;
+
+  // Documentation inherited.
+  void updateBiasImpulse() override;
+
+  // Documentation inherited.
+  void updateAccelerationID() override;
+
+  // Documentation inherited.
+  void updateAccelerationFD() override;
+
+  // Documentation inherited.
+  void updateVelocityChangeFD() override;
+
+  // Documentation inherited.
+  void updateTransmittedForceID(
+      const Eigen::Vector3d& _gravity,
+      bool _withExternalForces = false) override;
+
+  // Documentation inherited.
+  void updateTransmittedForceFD() override;
+
+  // Documentation inherited.
+  void updateTransmittedImpulse() override;
+
+  // Documentation inherited.
+  void updateJointForceID(
+      double _timeStep,
+      bool _withDampingForces,
+      bool _withSpringForces) override;
+
+  // Documentation inherited.
+  void updateJointForceFD(
+      double _timeStep,
+      bool _withDampingForces,
+      bool _withSpringForces) override;
+
+  // Documentation inherited.
+  void updateJointImpulseFD() override;
+
+  // Documentation inherited.
+  void updateConstrainedTerms(double _timeStep) override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Equations of motion related routines
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited.
+  void updateMassMatrix() override;
+
+  // Documentation inherited.
+  void aggregateMassMatrix(Eigen::MatrixXd& _MCol, std::size_t _col) override;
+
+  // Documentation inherited.
+  void aggregateAugMassMatrix(
+      Eigen::MatrixXd& _MCol, std::size_t _col, double _timeStep) override;
+
+  // Documentation inherited.
+  void updateInvMassMatrix() override;
+
+  // Documentation inherited.
+  void updateInvAugMassMatrix() override;
+
+  // Documentation inherited.
+  void aggregateInvMassMatrix(
+      Eigen::MatrixXd& _InvMCol, std::size_t _col) override;
+
+  // Documentation inherited.
+  void aggregateInvAugMassMatrix(
+      Eigen::MatrixXd& _InvMCol, std::size_t _col, double _timeStep) override;
+
+  // Documentation inherited.
+  // TODO(JS): Not implemented yet.
+  void aggregateCoriolisForceVector(Eigen::VectorXd& _C) override;
+
+  // Documentation inherited.
+  void aggregateGravityForceVector(
+      Eigen::VectorXd& _g, const Eigen::Vector3d& _gravity) override;
+
+  // Documentation inherited.
+  void updateCombinedVector() override;
+
+  // Documentation inherited.
+  void aggregateCombinedVector(
+      Eigen::VectorXd& _Cg, const Eigen::Vector3d& _gravity) override;
+
+  // Documentation inherited.
+  void aggregateExternalForces(Eigen::VectorXd& _Fext) override;
+
+  /// \}
+
+  // Documentation inherited.
+  void clearExternalForces() override;
+
+  void clearInternalForces() override;
+
+protected:
+  /// \brief List of point masses composing deformable mesh.
+  std::vector<PointMass*> mPointMasses;
+
+  /// An Entity which tracks when the point masses need to be updated
+  PointMassNotifier* mNotifier;
+
+  /// \brief Soft mesh shape belonging to this node.
+  WeakShapeNodePtr mSoftShapeNode;
+
+  /// Generalized inertia with point masses
+  math::Inertia mI2;
+
+  ///
+  math::Inertia mArtInertia2;
+
+  ///
+  math::Inertia mArtInertiaImplicit2;
+
+private:
+  /// \brief
+  void _addPiToArtInertia(const Eigen::Vector3d& _p, double _Pi) const;
+
+  /// \brief
+  void _addPiToArtInertiaImplicit(
+      const Eigen::Vector3d& _p, double _ImplicitPi) const;
+
+  ///
+  void updateInertiaWithPointMass();
+};
+
+class SoftBodyNodeHelper
+{
+public:
+  /// Create a Properties struct for a box-shaped SoftBodyNode with 8
+  /// PointMasses
+  static SoftBodyNode::UniqueProperties makeBoxProperties(
+      const Eigen::Vector3d& _size,
+      const Eigen::Isometry3d& _localTransform,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// \brief
+  /// This should be called before SoftBodyNode::init() is called
+  static void setBox(
+      SoftBodyNode* _softBodyNode,
+      const Eigen::Vector3d& _size,
+      const Eigen::Isometry3d& _localTransform,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// Create a Properties struct for a box-shaped SoftBodyNode. Specify the
+  /// number of vertices along each axis with _frags. Each component should be
+  /// equal to or greater than 3. For example, [3 3 3] is allowed but [2 2 2] is
+  /// not.
+  static SoftBodyNode::UniqueProperties makeBoxProperties(
+      const Eigen::Vector3d& _size,
+      const Eigen::Isometry3d& _localTransform,
+      const Eigen::Vector3i& _frags,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// \brief
+  /// This should be called before SoftBodyNode::init() is called
+  /// \param[in] _softBodyNode
+  /// \param[in] _size
+  /// \param[in] _localTransform
+  /// \param[in] _frags Number of vertices of box mesh. Each component should be
+  ///   equal or greater than 3. For example, [3 3 3] is allowed but [2 2 2] is
+  ///   not.
+  // TODO: The component of _frags should allow 2.
+  /// \param[in] _totalMass
+  /// \param[in] _vertexStiffness
+  /// \param[in] _edgeStiffness
+  /// \param[in] _dampingCoeff
+  static void setBox(
+      SoftBodyNode* _softBodyNode,
+      const Eigen::Vector3d& _size,
+      const Eigen::Isometry3d& _localTransform,
+      const Eigen::Vector3i& _frags,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// Create a Properties struct for a SoftBodyNode with a single PointMass
+  static SoftBodyNode::UniqueProperties makeSinglePointMassProperties(
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// \brief
+  /// This should be called before SoftBodyNode::init() is called
+  static void setSinglePointMass(
+      SoftBodyNode* _softBodyNode,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// Create a Properties struct for an Sphere-shaped SoftBodyNode
+  static SoftBodyNode::UniqueProperties makeSphereProperties(
+      double _radius,
+      std::size_t _nSlices,
+      std::size_t _nStacks,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// Create a Properties struct for an Ellipsoid-shaped SoftBodyNode
+  static SoftBodyNode::UniqueProperties makeEllipsoidProperties(
+      const Eigen::Vector3d& _size,
+      std::size_t _nSlices,
+      std::size_t _nStacks,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// \brief
+  /// This should be called before SoftBodyNode::init() is called
+  static void setEllipsoid(
+      SoftBodyNode* _softBodyNode,
+      const Eigen::Vector3d& _size,
+      std::size_t _nSlices,
+      std::size_t _nStacks,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  /// Create a Properties struct for a cylinder-shaped SoftBodyNode
+  static SoftBodyNode::UniqueProperties makeCylinderProperties(
+      double _radius,
+      double _height,
+      std::size_t _nSlices,
+      std::size_t _nStacks,
+      std::size_t _nRings,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+
+  ///
+  /// This should be called before SoftBodyNode::init() is called
+  static void setCylinder(
+      SoftBodyNode* _softBodyNode,
+      double _radius,
+      double _height,
+      std::size_t _nSlices,
+      std::size_t _nStacks,
+      std::size_t _nRings,
+      double _totalMass,
+      double _vertexStiffness = DART_DEFAULT_VERTEX_STIFFNESS,
+      double _edgeStiffness = DART_DEFAULT_EDGE_STIFNESS,
+      double _dampingCoeff = DART_DEFAULT_DAMPING_COEFF);
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SOFTBODYNODE_HPP_