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GeneralForceSubsystem.h
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1 #ifndef SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
2 #define SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_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) 2006-12 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 
29 
30 #include <cassert>
31 
32 namespace SimTK {
33 
34 class MultibodySystem;
35 class SimbodyMatterSubsystem;
36 class Force;
37 
48 public:
51 
64  ForceIndex adoptForce(Force& force);
65 
68  int getNumForces() const;
69 
71  const Force& getForce(ForceIndex index) const;
72 
74  Force& updForce(ForceIndex index);
75 
78  bool isForceDisabled(const State& state, ForceIndex index) const;
79 
86  void setForceIsDisabled
87  (State& state, ForceIndex index, bool shouldBeDisabled) const;
88 
93  const MultibodySystem& getMultibodySystem() const;
94  // don't show in Doxygen docs
98 private:
99  // OBSOLETE; use getNumForces() instead.
100  int getNForces() const {return getNumForces();}
101 
102  class GeneralForceSubsystemRep& updRep();
103  const GeneralForceSubsystemRep& getRep() const;
104 };
105 
106 } // namespace SimTK
107 
108 #endif // SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_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
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
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...
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
This type represents the index of a Force element within its subsystem.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete...
Definition: ForceSubsystem.h:36
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72