MultibodySystem Class Reference
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can be part of a multibody system.
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#include <MultibodySystem.h>
List of all members.
Detailed Description
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can be part of a multibody system.
We insist on having exactly one MatterSubsystem, and we would like also to have:
- one or more ForceSubsystems
- an AnalyticGeometrySubsystem
- a MassPropertiesSubsystem
- a VisualizationSubsystem There will also be a generic System-level "subsystem" for global variables.
Constructor & Destructor Documentation
Member Function Documentation
| Real calcEnergy |
( |
const State & |
s |
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const [inline] |
Calculate the total energy of the system.
The state must be at Dynamics stage or later.
| const Real calcKineticEnergy |
( |
const State & |
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) |
const |
Calculate the total kinetic energy of the system.
The state must be at Velocity stage or later.
| const Real calcPotentialEnergy |
( |
const State & |
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) |
const |
Calculate the total potential energy of the system.
The state must be at Dynamics stage or later.
| const MultibodySystemRep& getRep |
( |
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) |
const |
| bool hasContactSubsystem |
( |
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) |
const |
| bool hasDecorationSubsystem |
( |
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const |
| bool hasMatterSubsystem |
( |
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) |
const |
| class MultibodySystemRep& updRep |
( |
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) |
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The documentation for this class was generated from the following file:
