Deformables

All deformable models operate on point sets, arrays of 3D positions and velocities managed by PointDynamics. Register a point set to get a PointSetHandler, which you pass to each energy model:

auto ps = simulation.deformables->point_sets->add(vertices);

Transforms

You can reposition and reorient the point set, or give it an initial velocity:

ps.add_translation({0.0, 0.0, 1.0});
ps.add_rotation(90.0, {1.0, 0.0, 0.0});  // angle_deg, axis
ps.set_velocity({0.0, 0.0, -1.0});        // applied to all points

Potential energies

EnergyLumpedInertia

Mass and Rayleigh damping for a point set. Works with any topology (edges, triangles, tets); mass is lumped to vertices proportional to element volume.

auto inertia_h = simulation.deformables->lumped_inertia->add(
    ps, triangles,
    stark::EnergyLumpedInertia::Params()
        .set_density(0.2)   // [kg/m²] for surfaces, [kg/m³] for volumes, etc.
        .set_damping(0.5)
);

Every dynamic point set needs at least one inertia registration. The quasistatic flag disables the kinetic energy term; see Simulation Loop for quasistatic usage.

---

EnergyPrescribedPositions

Penalty-based kinematic boundary conditions. Selected vertices are attracted to a target configuration with a stiffness penalty.

auto bc = simulation.deformables->prescribed_positions->add_inside_aabb(
    ps,
    Eigen::Vector3d(0, 0, 0),       // AABB centre
    Eigen::Vector3d(0.001, 1, 1),   // AABB half-extents
    stark::EnergyPrescribedPositions::Params()
        .set_stiffness(1e6)
);

You can also select by explicit vertex list (add) or invert the AABB selection (add_outside_aabb).

To animate the boundary condition, update its target transformation each time step:

simulation.add_time_event(0.0, duration, [&](double t) {
    bc.set_transformation(
        Eigen::Vector3d(0, 0, 0),   // translation
        t * 90.0,                    // rotation angle (deg)
        Eigen::Vector3d(1, 0, 0)    // rotation axis
    );
});

---

EnergySegmentStrain

1D axial strain energy for rods and cables. Acts on pairs of connected vertices (segments).

auto strain_h = simulation.deformables->segment_strain->add(
    ps, segments,
    stark::EnergySegmentStrain::Params()
        .set_section_radius(5e-3)       // rod cross-section radius
        .set_youngs_modulus(1e6)
        .set_damping(0.0)
);

Optional strain limiting caps elongation to prevent explosive stretching. elasticity_only = true disables strain limiting and damping for a cheaper solve.

---

EnergyTriangleStrain

2D membrane strain energy for cloth and thin shells. Acts on triangles and models in-plane stretching and compression using the Neo-Hookean constitutive model.

auto strain_h = simulation.deformables->triangle_strain->add(
    ps, triangles,
    stark::EnergyTriangleStrain::Params()
        .set_thickness(0.001)           // shell thickness (m)
        .set_youngs_modulus(1e5)
        .set_poissons_ratio(0.3)
        .set_strain_limit(0.2)          // optional; 0 = disabled
);

An inflation parameter adds an outward pressure force, useful for inflatables. elasticity_only = true disables strain limiting and damping for a cheaper solve.

---

EnergyDiscreteShells

Bending energy for triangle meshes (Grinspun et al. discrete shells or Bergou et al. flat quadratic model), acting on hinge edges.

auto bending_h = simulation.deformables->discrete_shells->add(
    ps, triangles,
    stark::EnergyDiscreteShells::Params()
        .set_stiffness(1e-3)
        .set_flat_rest_angle(true)   // true → Bergou quadratic; false → use mesh's rest angle
);

This is always paired with EnergyTriangleStrain on the same triangle mesh. The Surface preset does this automatically.

---

EnergyTetStrain

3D volumetric FEM strain energy for soft bodies. Acts on linear tetrahedra using the Neo-Hookean constitutive model.

auto strain_h = simulation.deformables->tet_strain->add(
    ps, tets,
    stark::EnergyTetStrain::Params()
        .set_youngs_modulus(1e5)
        .set_poissons_ratio(0.4)
);

elasticity_only = true disables strain limiting and damping for a cheaper solve.

---

Manual Composition

Any combination of the above energies can be registered on the same PointSetHandler. See examples/main.cpp for a mesh with volumetric interior, shell surface, and rod edges — each energy registers independently and all contribute to the same Newton solve.

Output

Mesh output is registered separately:

simulation.deformables->output->add_triangle_mesh("cloth", ps, triangles);
simulation.deformables->output->add_tet_mesh("body", ps, tets);
simulation.deformables->output->add_segment_mesh("rod", ps, segments);
simulation.deformables->output->add_point_set("pts", ps);

Presets handle this automatically.