Simbody

GeneralForceSubsystem.h

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00001 #ifndef SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
00002 #define SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_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) 2006-10 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 
00035 #include "simbody/internal/common.h"
00036 #include "simbody/internal/ForceSubsystem.h"
00037 
00038 #include <cassert>
00039 
00040 namespace SimTK {
00041 
00042 class MultibodySystem;
00043 class SimbodyMatterSubsystem;
00044 class Force;
00045 
00055 class SimTK_SIMBODY_EXPORT GeneralForceSubsystem : public ForceSubsystem {
00056 public:
00057     GeneralForceSubsystem();
00058     explicit GeneralForceSubsystem(MultibodySystem&);
00059 
00072     ForceIndex adoptForce(Force& force);
00073     
00076     int getNumForces() const;
00077 
00079     const Force& getForce(ForceIndex index) const;
00080 
00082     Force& updForce(ForceIndex index);
00083 
00086     bool isForceDisabled(const State& state, ForceIndex index) const;
00087     
00094     void setForceIsDisabled
00095        (State& state, ForceIndex index, bool shouldBeDisabled) const;
00096 
00101     const MultibodySystem& getMultibodySystem() const;
00102    // don't show in Doxygen docs
00104     SimTK_PIMPL_DOWNCAST(GeneralForceSubsystem, ForceSubsystem);
00106 private:
00107     // OBSOLETE; use getNumForces() instead.
00108     int getNForces() const {return getNumForces();}
00109 
00110     class GeneralForceSubsystemRep& updRep();
00111     const GeneralForceSubsystemRep& getRep() const;
00112 };
00113 
00114 } // namespace SimTK
00115 
00116 #endif // SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
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