Force::Custom::Implementation Class Reference

#include <Force.h>

List of all members.

Public Member Functions

virtual ~Implementation ()

virtual void calcForce (const State &state, Vector_< SpatialVec > &bodyForces, Vector_< Vec3 > &particleForces, Vector &mobilityForces) const =0

Calculate the force for a given state.

virtual Real calcPotentialEnergy (const State &state) const =0

Calculate this force's contribution to the potential energy of the System.

virtual bool dependsOnlyOnPositions () const

Get whether this force depends only on the position variables (q), not on the velocies (u) or auxiliary variables (z).

virtual void realizeTopology (State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeModel (State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeInstance (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeTime (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizePosition (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeVelocity (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeDynamics (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeAcceleration (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

virtual void realizeReport (const State &state) const

The following methods may optionally be overridden to do specialized realization for a Force.

Constructor & Destructor Documentation

virtual ~Implementation ( ) [inline, virtual]

Member Function Documentation

virtual void calcForce	(	const State &	state,
		Vector_< SpatialVec > &	bodyForces,
		Vector_< Vec3 > &	particleForces,
		Vector &	mobilityForces
	)			const `[pure virtual]`

Calculate the force for a given state.

Parameters:

	state	the State for which to calculate the force
	bodyForces	spatial forces on MobilizedBodies are accumulated in this. To apply a force to a body, add it to the appropriate element of this vector.
	particleForces	forces on particles are accumulated in this. Since particles are not yet implemented, this is ignored.
	mobilityForces	forces on individual mobilities (elements of the state's u vector) are accumulated in this. To apply a force to a mobility, add it to the appropriate element of this vector.

virtual Real calcPotentialEnergy ( const State & state ) const [pure virtual]

Calculate this force's contribution to the potential energy of the System.

Parameters:

state

the State for which to calculate the potential energy

virtual bool dependsOnlyOnPositions ( ) const [inline, virtual]

Get whether this force depends only on the position variables (q), not on the velocies (u) or auxiliary variables (z).

The default implementation returns false. If the force depends only on positions, you should override this to return true. This allows force calculations to be optimized in some cases.

virtual void realizeTopology ( State & state ) const [inline, virtual]