DecorationSubsystem.h

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00001 #ifndef SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
00002 #define SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
00003 
00004 /* -------------------------------------------------------------------------- *
00005  *                      SimTK Core: SimTK Simbody(tm)                         *
00006  * -------------------------------------------------------------------------- *
00007  * This is part of the SimTK Core biosimulation toolkit originating from      *
00008  * Simbios, the NIH National Center for Physics-Based Simulation of           *
00009  * Biological Structures at Stanford, funded under the NIH Roadmap for        *
00010  * Medical Research, grant U54 GM072970. See https://simtk.org.               *
00011  *                                                                            *
00012  * Portions copyright (c) 2007 Stanford University and the Authors.           *
00013  * Authors: Michael Sherman                                                   *
00014  * Contributors:                                                              *
00015  *                                                                            *
00016  * Permission is hereby granted, free of charge, to any person obtaining a    *
00017  * copy of this software and associated documentation files (the "Software"), *
00018  * to deal in the Software without restriction, including without limitation  *
00019  * the rights to use, copy, modify, merge, publish, distribute, sublicense,   *
00020  * and/or sell copies of the Software, and to permit persons to whom the      *
00021  * Software is furnished to do so, subject to the following conditions:       *
00022  *                                                                            *
00023  * The above copyright notice and this permission notice shall be included in *
00024  * all copies or substantial portions of the Software.                        *
00025  *                                                                            *
00026  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
00027  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   *
00028  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    *
00029  * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,    *
00030  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR      *
00031  * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE  *
00032  * USE OR OTHER DEALINGS IN THE SOFTWARE.                                     *
00033  * -------------------------------------------------------------------------- */
00034 
00042 #include "SimTKcommon.h"
00043 #include "simbody/internal/common.h"
00044 
00045 #include <cassert>
00046 
00047 namespace SimTK {
00048 
00049 class DecorativeGeometry;
00050 class DecorativeLine;
00051 class MultibodySystem;
00052 
00061 class SimTK_SIMBODY_EXPORT DecorationSubsystem : public Subsystem {
00062 public:
00063     DecorationSubsystem();
00064     explicit DecorationSubsystem(MultibodySystem&);
00065 
00066     void addBodyFixedDecoration(MobilizedBodyIndex bodyNum, 
00067                                 const Transform& X_GD, 
00068                                 const DecorativeGeometry&);
00069 
00070     void addRubberBandLine(MobilizedBodyIndex b1, const Vec3& station1, 
00071                            MobilizedBodyIndex b2, const Vec3& station2,
00072                            const DecorativeLine&);
00073 
00074     SimTK_PIMPL_DOWNCAST(DecorationSubsystem, Subsystem);
00075     class DecorationSubsystemGuts& updGuts();
00076     const DecorationSubsystemGuts& getGuts() const;
00077 };
00078 
00079 } // namespace SimTK
00080 
00081 #endif // SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_

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