Force_LinearBushing.h

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#ifndef SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_
#define SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2009-12 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simbody/internal/Force.h"

namespace SimTK {
class SimTK_SIMBODY_EXPORT Force::LinearBushing : public Force {
public:
    LinearBushing(GeneralForceSubsystem& forces, 
                  const MobilizedBody& body1, const Transform& frameFOnB1, 
                  const MobilizedBody& body2, const Transform& frameMOnB2, 
                  const Vec6& stiffness, const Vec6& damping);

    LinearBushing(GeneralForceSubsystem& forces, 
                  const MobilizedBody& body1, 
                  const MobilizedBody& body2, 
                  const Vec6& stiffness, const Vec6& damping);
 
    LinearBushing() {}


    //--------------------------------------------------------------------------

    LinearBushing& setDefaultFrameOnBody1(const Transform& X_B1F);
    LinearBushing& setDefaultFrameOnBody2(const Transform& X_B2M);
    LinearBushing& setDefaultStiffness(const Vec6& stiffness);
    LinearBushing& setDefaultDamping(const Vec6& damping);

    const Transform& getDefaultFrameOnBody1() const;
    const Transform& getDefaultFrameOnBody2() const;
    const Vec6& getDefaultStiffness() const;
    const Vec6& getDefaultDamping()   const;



    //--------------------------------------------------------------------------

    const LinearBushing& setFrameOnBody1(State&             state, 
                                         const Transform&   X_B1F) const;
    const LinearBushing& setFrameOnBody2(State&             state, 
                                         const Transform&   X_B2M) const;
    const LinearBushing& setStiffness(State&        state, 
                                      const Vec6&   stiffness) const;
    const LinearBushing& setDamping(State&      state, 
                                    const Vec6& damping) const;

    const Transform& getFrameOnBody1(const State& state) const;
    const Transform& getFrameOnBody2(const State& state) const;
    const Vec6& getStiffness(const State& state) const;
    const Vec6& getDamping(const State& state)   const;



    //--------------------------------------------------------------------------

    const Vec6& getQ(const State& state) const;

    const Transform& getX_GF(const State& state) const;

    const Transform& getX_GM(const State& state) const;

    const Transform& getX_FM(const State& state) const;



    //--------------------------------------------------------------------------

    const Vec6& getQDot(const State& state) const;

    const SpatialVec& getV_GF(const State& state) const;

    const SpatialVec& getV_GM(const State& state) const;

    const SpatialVec& getV_FM(const State& state) const;



    //--------------------------------------------------------------------------

    const Vec6& getF(const State& state) const;

    const SpatialVec& getF_GM(const State& state) const;

    const SpatialVec& getF_GF(const State& state) const;



    //--------------------------------------------------------------------------

    Real getPotentialEnergy(const State& state) const;

    Real getPowerDissipation(const State& state) const;

    Real getDissipatedEnergy(const State& state) const;

    void setDissipatedEnergy(State& state, Real energy) const;

    // Don't show this in Doxygen.
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
       (LinearBushing, LinearBushingImpl, Force);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_