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GeneralContactSubsystem.h
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1 #ifndef SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_
2 #define SimTK_SIMBODY_GENERAL_CONTACT_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) 2008-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
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 
27 #include "SimTKmath.h"
29 
30 namespace SimTK {
31 
32 class MultibodySystem;
33 class MobilizedBody;
34 class ContactGeometry;
35 
58 public:
65  ContactSetIndex createContactSet();
69  int getNumContactSets() const;
78  void addBody(ContactSetIndex index, const MobilizedBody& body, const ContactGeometry& geom, Transform transform);
82  int getNumBodies(ContactSetIndex set) const;
89  const MobilizedBody& getBody(ContactSetIndex set, ContactSurfaceIndex index) const;
96  const ContactGeometry& getBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index) const;
103  ContactGeometry& updBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index);
110  const Transform& getBodyTransform(ContactSetIndex set, ContactSurfaceIndex index) const;
117  Transform& updBodyTransform(ContactSetIndex set, ContactSurfaceIndex index);
124  const Array_<Contact>& getContacts(const State& state, ContactSetIndex set) const;
126 private:
127  class GeneralContactSubsystemImpl& updImpl();
128  const GeneralContactSubsystemImpl& getImpl() const;
129 };
130 
131 } // namespace SimTK
132 
133 #endif // SimTK_SIMBODY_GENERAL_CONTACT_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 defines a unique index for all the contact surfaces being handled either by a ContactTrackerSubs...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Every Simbody header and source file should include this header before any other Simbody header...
The SimTK::Array_ container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
This class performs collision detection for use in contact modeling.
Definition: GeneralContactSubsystem.h:57
A ContactGeometry object describes the shape of all or part of the boundary of a solid object...
Definition: ContactGeometry.h:110
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167