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DecorationSubsystem.h
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1 #ifndef SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
2 #define SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2007-12 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
34 #include "SimTKcommon.h"
36 
37 #include <cassert>
38 
39 namespace SimTK {
40 
41 class DecorationGenerator;
42 class DecorativeGeometry;
43 class DecorativeLine;
44 class MultibodySystem;
45 
55 public:
58 
59  void addBodyFixedDecoration(MobilizedBodyIndex bodyNum,
60  const Transform& X_GD,
61  const DecorativeGeometry&);
62 
63  void addRubberBandLine(MobilizedBodyIndex b1, const Vec3& station1,
64  MobilizedBodyIndex b2, const Vec3& station2,
65  const DecorativeLine&);
74  void addDecorationGenerator(Stage stage, DecorationGenerator* generator);
75 
77  class DecorationSubsystemGuts& updGuts();
78  const DecorationSubsystemGuts& getGuts() const;
79 };
80 
81 } // namespace SimTK
82 
83 #endif // SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:564
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
Every Simbody header and source file should include this header before any other Simbody header...
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
A DecorationGenerator is used to define geometry that may change over the course of a simulation...
Definition: DecorationGenerator.h:45
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
A line between two points.
Definition: DecorativeGeometry.h:304
This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54