1 #ifndef SimTK_SIMBODY_FORCE_CUSTOM_H_ 2 #define SimTK_SIMBODY_FORCE_CUSTOM_H_ 241 virtual Real calcPotentialEnergy(
const State& state)
const = 0;
266 virtual void calcDecorativeGeometryAndAppend
274 #endif // SimTK_SIMBODY_FORCE_CUSTOM_H_ This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is the vector class intended to appear in user code for large, variable size column vectors...
Definition: BigMatrix.h:171
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Custom()
Default constructor creates an empty handle.
Definition: Force_Custom.h:207
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
virtual bool dependsOnlyOnPositions() const
Get whether this force depends only on the position variables (q), not on the velocies (u) or auxilia...
Definition: Force_Custom.h:247
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
virtual void realizePosition(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:257
virtual void realizeDynamics(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:259
This class is used to define new force elements.
Definition: Force_Custom.h:193
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
The SimTK::Array_<T> container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
virtual void realizeTopology(State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:253
virtual void realizeTime(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:256
virtual void realizeReport(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:261
virtual void realizeVelocity(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:258
virtual ~Implementation()
Definition: Force_Custom.h:223
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
virtual void realizeAcceleration(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:260
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
virtual void realizeInstance(const State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:255
virtual void realizeModel(State &state) const
The following methods may optionally be overridden to do specialized realization for a Force...
Definition: Force_Custom.h:254
Every custom force requires implementation of a class that is derived from this abstract class...
Definition: Force_Custom.h:221