A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim. More...

#include <SimbodyEngine.h>

Inheritance diagram for OpenSim::SimbodyEngine:

Public Member Functions
virtual	~SimbodyEngine ()
	SimbodyEngine ()
	SimbodyEngine (const std::string &aFileName)
	SimbodyEngine (const SimbodyEngine &aEngine)
SimbodyEngine &	operator= (const SimbodyEngine &aEngine)
const Model &	getModel () const
Model &	getModel ()
void	setModel (Model &aModel)
void	connectSimbodyEngineToModel (Model &aModel)
virtual void	getUnlockedCoordinates (const SimTK::State &s, CoordinateSet &rUnlockedCoordinates) const
virtual bool	scale (SimTK::State &s, const ScaleSet &aScaleSet, double aFinalMass=-1.0, bool aPreserveMassDist=false)
virtual Body &	getGroundBody () const
virtual WrapObject *	getWrapObject (const std::string &aName) const
virtual void	getPosition (const SimTK::State &s, const OpenSim::Body &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rPos) const
virtual void	getVelocity (const SimTK::State &s, const OpenSim::Body &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rVel) const
virtual void	getAcceleration (const SimTK::State &s, const OpenSim::Body &aBody, const SimTK::Vec3 &aPoint, SimTK::Vec3 &rAcc) const
virtual void	getDirectionCosines (const SimTK::State &s, const OpenSim::Body &aBody, double rDirCos[3][3]) const
virtual void	getDirectionCosines (const SimTK::State &s, const OpenSim::Body &aBody, double *rDirCos) const
virtual void	getAngularVelocity (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngVel) const
virtual void	getAngularVelocityBodyLocal (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngVel) const
virtual void	getAngularAcceleration (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngAcc) const
virtual void	getAngularAccelerationBodyLocal (const SimTK::State &s, const OpenSim::Body &aBody, SimTK::Vec3 &rAngAcc) const
virtual Transform	getTransform (const SimTK::State &s, const OpenSim::Body &aBody) const
virtual void	computeReactions (const SimTK::State &s, SimTK::Vector_< SimTK::Vec3 > &rForces, SimTK::Vector_< SimTK::Vec3 > &rTorques) const
virtual void	formCompleteStorages (const SimTK::State &s, const OpenSim::Storage &aQIn, OpenSim::Storage &rQComplete, OpenSim::Storage &rUComplete) const
virtual void	formEulerTransform (const SimTK::State &s, const OpenSim::Body &aBody, double *rE) const
virtual void	transform (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const double aVec[3], const OpenSim::Body &aBodyTo, double rVec[3]) const
virtual void	transform (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const SimTK::Vec3 &aVec, const OpenSim::Body &aBodyTo, SimTK::Vec3 &rVec) const
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const double aPos[3], const OpenSim::Body &aBodyTo, double rPos[3]) const
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const SimTK::Vec3 &aPos, const OpenSim::Body &aBodyTo, SimTK::Vec3 &rPos) const
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const double aPos[3], double rPos[3]) const
virtual void	transformPosition (const SimTK::State &s, const OpenSim::Body &aBodyFrom, const SimTK::Vec3 &aPos, SimTK::Vec3 &rPos) const
virtual double	calcDistance (const SimTK::State &s, const OpenSim::Body &aBody1, const double aPoint1[3], const OpenSim::Body &aBody2, const double aPoint2[3]) const
virtual double	calcDistance (const SimTK::State &s, const OpenSim::Body &aBody1, const SimTK::Vec3 &aPoint1, const OpenSim::Body &aBody2, const SimTK::Vec3 &aPoint2) const
void	convertRadiansToDegrees (Storage &rStorage) const
void	convertDegreesToRadians (Storage &rStorage) const
void	convertDegreesToRadians (double aQDeg, double rQRad) const
void	convertRadiansToDegrees (double aQRad, double rQDeg) const
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double rDirCos[3][3]) const
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double *rDirCos) const
virtual void	convertDirectionCosinesToAngles (double aDirCos[3][3], double rE1, double rE2, double *rE3) const
virtual void	convertDirectionCosinesToAngles (double aDirCos, double rE1, double rE2, double rE3) const
virtual void	convertDirectionCosinesToQuaternions (double aDirCos[3][3], double rQ1, double rQ2, double rQ3, double rQ4) const
virtual void	convertDirectionCosinesToQuaternions (double aDirCos, double rQ1, double rQ2, double rQ3, double *rQ4) const
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double rDirCos[3][3]) const
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double *rDirCos) const
Public Member Functions inherited from OpenSim::Object
virtual	~Object ()
	Virtual destructor for cleanup.
virtual Object *	clone () const =0
	Create a new heap-allocated copy of the concrete object to which this Object refers.
virtual const std::string &	getConcreteClassName () const =0
	Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.
virtual const VisibleObject *	getDisplayer () const
	Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObject *	updDisplayer ()
	get Non const pointer to VisibleObject
bool	isEqualTo (const Object &aObject) const
	Equality operator wrapper for use from languages not supporting operator overloading.
Object &	operator= (const Object &aObject)
	Copy assignment copies he base class fields, including the properties.
virtual bool	operator== (const Object &aObject) const
	Determine if two objects are equal.
virtual bool	operator< (const Object &aObject) const
	Provide an ordering for objects so they can be put in sorted containers.
void	setName (const std::string &name)
	Set the name of the Object.
const std::string &	getName () const
	Get the name of this Object.
void	setDescription (const std::string &description)
	Set description, a one-liner summary.
const std::string &	getDescription () const
	Get description, a one-liner summary.
const std::string &	getAuthors () const
	Get Authors of this Object.
void	setAuthors (const std::string &authors)
	Set Authors of this object, call this method in your constructor if needed.
const std::string &	getReferences () const
	Get references or publications to cite if using this object.
void	setReferences (const std::string &references)
	Set references or publications to cite if using this object.
int	getNumProperties () const
	Determine how many properties are stored with this Object.
const AbstractProperty &	getPropertyByIndex (int propertyIndex) const
	Get a const reference to a property by its index number, returned as an AbstractProperty.
AbstractProperty &	updPropertyByIndex (int propertyIndex)
	Get a writable reference to a property by its index number, returned as an AbstractProperty.
bool	hasProperty (const std::string &name) const
	Return true if this Object has a property of any type with the given name, which must not be empty.
const AbstractProperty &	getPropertyByName (const std::string &name) const
	Get a const reference to a property by its name, returned as an AbstractProperty.
AbstractProperty &	updPropertyByName (const std::string &name)
	Get a writable reference to a property by its name, returned as an AbstractProperty.
template<class T >
bool	hasProperty () const
	Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T.
template<class T >
const Property< T > &	getProperty (const PropertyIndex &index) const
	Get property of known type Property<T> as a const reference; the property must be present and have the right type.
template<class T >
Property< T > &	updProperty (const PropertyIndex &index)
	Get property of known type Property<T> as a writable reference; the property must be present and have the right type.
void	setObjectIsUpToDateWithProperties ()
	When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date.
bool	isObjectUpToDateWithProperties () const
	Returns `true` if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called.
void	readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
	We're given an XML element from which we are to populate this Object.
virtual void	updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
	Use this method to deserialize an object from a SimTK::Xml::Element.
virtual void	updateXMLNode (SimTK::Xml::Element &parent)
	Serialize this object into the XML node that represents it.
bool	getInlined () const
	Inlined means an in-memory Object that is not associated with an XMLDocument.
void	setInlined (bool aInlined, const std::string &aFileName="")
	Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case.
std::string	getDocumentFileName () const
	If there is a document associated with this object then return the file name maintained by the document.
void	setAllPropertiesUseDefault (bool aUseDefault)
bool	print (const std::string &fileName)
	Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim".
std::string	dump (bool dumpName=false)
	dump the XML representation of this Object into an std::string and return it.
void	clearObjectIsUpToDateWithProperties ()
	For testing or debugging purposes, manually clear the "object is up to date with respect to properties" flag.
virtual bool	isA (const char *type) const
	The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name.
const std::string &	toString () const
	Wrapper to be used on Java side to display objects in tree; this returns just the object's name.
PropertySet &	getPropertySet ()
	OBSOLETE: Get a reference to the PropertySet maintained by the Object.
const PropertySet &	getPropertySet () const

Public Attributes
Model *	_model
	Pointer to the model that owns this dynamics engine.

Protected Attributes
Body *	_groundBody
	Body used for ground, the inertial frame.
Protected Attributes inherited from OpenSim::Object
PropertySet	_propertySet
	OBSOLETE: Property_Deprecated set for serializable member variables of this and derived classes.

Friends
class	Body
class	Coordinate
class	Joint
class	Constraint
class	WeldConstraint
class	CoordinateCouplerConstraint

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::Object
static void	registerType (const Object &defaultObject)
	Register an instance of a class; if the class is already registered it will be replaced.
static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current Object type with an old name.
static const Object *	getDefaultInstanceOfType (const std::string &concreteClassName)
	Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered.
template<class T >
static bool	isObjectTypeDerivedFrom (const std::string &concreteClassName)
	Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*.
static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete Object type whose class name is given as concreteClassName.
static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far.
template<class T >
static void	getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
	Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete.
static void	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects.
static void	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName)
	Same as the other signature but the class name and property name are provided as two separate strings.
static Object *	makeObjectFromFile (const std::string &fileName)
	Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in.
static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object".
static void	setSerializeAllDefaults (bool shouldSerializeDefaults)
	Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically.
static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag.
static bool	isKindOf (const char *type)
	Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name.
static void	setDebugLevel (int newLevel)
	Set the debug level to get verbose output.
static int	getDebugLevel ()
	Get current setting of debug level.
static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned.
static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType().
static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType().
Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
Protected Member Functions inherited from OpenSim::Object
	Object ()
	The default constructor is only for use by constructors of derived types.
	Object (const std::string &fileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
	Constructor from a file, to be called from other constructors that take a file as input.
	Object (const Object &source)
	Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly.
	Object (SimTK::Xml::Element &aElement)
	Construct the base class portion of an Object from a given Xml element that describes this Object.
template<class T >
PropertyIndex	addProperty (const std::string &name, const std::string &comment, const T &value)
	Define a new single-value property of known type T, with the given name, associated comment, and initial value.
template<class T >
PropertyIndex	addOptionalProperty (const std::string &name, const std::string &comment)
	Add an optional property, meaning it can contain either no value or a single value.
template<class T >
PropertyIndex	addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
	Add an optional property, meaning it can contain either no value or a single value.
template<class T >
PropertyIndex	addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
	Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value.
template<class T , template< class > class Container>
PropertyIndex	addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
	Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing.
PropertyIndex	getPropertyIndex (const std::string &name) const
	Look up a property by name and return its PropertyIndex if it is found.
template<class T >
PropertyIndex	getPropertyIndex () const
	Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found.
void	updateFromXMLDocument ()
	Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input.
void	setDocument (XMLDocument *doc)
	Unconditionally set the XMLDocument associated with this object.
const XMLDocument *	getDocument () const
	Get a const pointer to the document (if any) associated with this object.
XMLDocument *	updDocument ()
	Get a writable pointer to the document (if any) associated with this object.
Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.

Detailed Description

A wrapper class to use the SimTK Simbody dynamics engine as the underlying engine for OpenSim.

Authors: Frank C. Anderson, Ajay Seth

Version: 1.0

Constructor & Destructor Documentation

virtual OpenSim::SimbodyEngine::~SimbodyEngine ( )

virtual

OpenSim::SimbodyEngine::SimbodyEngine ( )

OpenSim::SimbodyEngine::SimbodyEngine ( const std::string & aFileName )

OpenSim::SimbodyEngine::SimbodyEngine ( const SimbodyEngine & aEngine )

Member Function Documentation

virtual double OpenSim::SimbodyEngine::calcDistance	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody1,
		const double	aPoint1[3],
		const OpenSim::Body &	aBody2,
		const double	aPoint2[3]
	)		const

virtual

virtual double OpenSim::SimbodyEngine::calcDistance	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody1,
		const SimTK::Vec3 &	aPoint1,
		const OpenSim::Body &	aBody2,
		const SimTK::Vec3 &	aPoint2
	)		const

virtual

virtual void OpenSim::SimbodyEngine::computeReactions	(	const SimTK::State &	s,
		SimTK::Vector_< SimTK::Vec3 > &	rForces,
		SimTK::Vector_< SimTK::Vec3 > &	rTorques
	)		const

virtual

void OpenSim::SimbodyEngine::connectSimbodyEngineToModel ( Model & aModel )

virtual void OpenSim::SimbodyEngine::convertAnglesToDirectionCosines	(	double	aE1,
		double	aE2,
		double	aE3,
		double	rDirCos[3][3]
	)		const

virtual

virtual void OpenSim::SimbodyEngine::convertAnglesToDirectionCosines	(	double	aE1,
		double	aE2,
		double	aE3,
		double *	rDirCos
	)		const

virtual

void OpenSim::SimbodyEngine::convertDegreesToRadians ( Storage & rStorage ) const

void OpenSim::SimbodyEngine::convertDegreesToRadians	(	double *	aQDeg,
		double *	rQRad
	)		const

virtual void OpenSim::SimbodyEngine::convertDirectionCosinesToAngles	(	double	aDirCos[3][3],
		double *	rE1,
		double *	rE2,
		double *	rE3
	)		const

virtual

virtual void OpenSim::SimbodyEngine::convertDirectionCosinesToAngles	(	double *	aDirCos,
		double *	rE1,
		double *	rE2,
		double *	rE3
	)		const

virtual

virtual void OpenSim::SimbodyEngine::convertDirectionCosinesToQuaternions	(	double	aDirCos[3][3],
		double *	rQ1,
		double *	rQ2,
		double *	rQ3,
		double *	rQ4
	)		const

virtual

virtual void OpenSim::SimbodyEngine::convertDirectionCosinesToQuaternions	(	double *	aDirCos,
		double *	rQ1,
		double *	rQ2,
		double *	rQ3,
		double *	rQ4
	)		const

virtual

virtual void OpenSim::SimbodyEngine::convertQuaternionsToDirectionCosines	(	double	aQ1,
		double	aQ2,
		double	aQ3,
		double	aQ4,
		double	rDirCos[3][3]
	)		const

virtual

virtual void OpenSim::SimbodyEngine::convertQuaternionsToDirectionCosines	(	double	aQ1,
		double	aQ2,
		double	aQ3,
		double	aQ4,
		double *	rDirCos
	)		const

virtual

void OpenSim::SimbodyEngine::convertRadiansToDegrees ( Storage & rStorage ) const

void OpenSim::SimbodyEngine::convertRadiansToDegrees	(	double *	aQRad,
		double *	rQDeg
	)		const

virtual void OpenSim::SimbodyEngine::formCompleteStorages	(	const SimTK::State &	s,
		const OpenSim::Storage &	aQIn,
		OpenSim::Storage *&	rQComplete,
		OpenSim::Storage *&	rUComplete
	)		const

virtual

virtual void OpenSim::SimbodyEngine::formEulerTransform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		double *	rE
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getAcceleration	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPoint,
		SimTK::Vec3 &	rAcc
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getAngularAcceleration	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngAcc
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getAngularAccelerationBodyLocal	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngAcc
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getAngularVelocity	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngVel
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getAngularVelocityBodyLocal	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		SimTK::Vec3 &	rAngVel
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getDirectionCosines	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		double	rDirCos[3][3]
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getDirectionCosines	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		double *	rDirCos
	)		const

virtual

virtual Body& OpenSim::SimbodyEngine::getGroundBody ( ) const

virtual

const Model& OpenSim::SimbodyEngine::getModel ( ) const

inline

Model& OpenSim::SimbodyEngine::getModel ( )

inline

virtual void OpenSim::SimbodyEngine::getPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPoint,
		SimTK::Vec3 &	rPos
	)		const

virtual

virtual Transform OpenSim::SimbodyEngine::getTransform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getUnlockedCoordinates	(	const SimTK::State &	s,
		CoordinateSet &	rUnlockedCoordinates
	)		const

virtual

virtual void OpenSim::SimbodyEngine::getVelocity	(	const SimTK::State &	s,
		const OpenSim::Body &	aBody,
		const SimTK::Vec3 &	aPoint,
		SimTK::Vec3 &	rVel
	)		const

virtual

virtual WrapObject* OpenSim::SimbodyEngine::getWrapObject ( const std::string & aName ) const

virtual

SimbodyEngine& OpenSim::SimbodyEngine::operator= ( const SimbodyEngine & aEngine )

virtual bool OpenSim::SimbodyEngine::scale	(	SimTK::State &	s,
		const ScaleSet &	aScaleSet,
		double	aFinalMass = `-1.0`,
		bool	aPreserveMassDist = `false`
	)

virtual

void OpenSim::SimbodyEngine::setModel ( Model & aModel )

inline

virtual void OpenSim::SimbodyEngine::transform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const double	aVec[3],
		const OpenSim::Body &	aBodyTo,
		double	rVec[3]
	)		const

virtual

virtual void OpenSim::SimbodyEngine::transform	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const SimTK::Vec3 &	aVec,
		const OpenSim::Body &	aBodyTo,
		SimTK::Vec3 &	rVec
	)		const

virtual

virtual void OpenSim::SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const double	aPos[3],
		const OpenSim::Body &	aBodyTo,
		double	rPos[3]
	)		const

virtual

virtual void OpenSim::SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const SimTK::Vec3 &	aPos,
		const OpenSim::Body &	aBodyTo,
		SimTK::Vec3 &	rPos
	)		const

virtual

virtual void OpenSim::SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const double	aPos[3],
		double	rPos[3]
	)		const

virtual

virtual void OpenSim::SimbodyEngine::transformPosition	(	const SimTK::State &	s,
		const OpenSim::Body &	aBodyFrom,
		const SimTK::Vec3 &	aPos,
		SimTK::Vec3 &	rPos
	)		const

virtual

Friends And Related Function Documentation

friend class Body

friend

friend class Constraint

friend

friend class Coordinate

friend

friend class CoordinateCouplerConstraint

friend

friend class Joint

friend

friend class WeldConstraint

friend

Member Data Documentation

Body* OpenSim::SimbodyEngine::_groundBody

protected

Body used for ground, the inertial frame.

Model* OpenSim::SimbodyEngine::_model

Pointer to the model that owns this dynamics engine.

The documentation for this class was generated from the following file:

E:/Projects/OpenSimTrunk/OpenSim/Simulation/SimbodyEngine/SimbodyEngine.h

Public Member Functions

Public Attributes

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation