1 #ifndef SimTK_SIMBODY_MULTIBODY_SYSTEM_H_ 2 #define SimTK_SIMBODY_MULTIBODY_SYSTEM_H_ 34 class SimbodyMatterSubsystem;
36 class DecorationSubsystem;
37 class GeneralContactSubsystem;
59 bool hasMatterSubsystem()
const;
64 bool hasDecorationSubsystem()
const;
69 bool hasContactSubsystem()
const;
74 const Real calcPotentialEnergy(
const State&)
const;
77 const Real calcKineticEnergy(
const State&)
const;
81 return calcPotentialEnergy(s)+calcKineticEnergy(s);
104 class MultibodySystemRep& updRep();
105 const MultibodySystemRep& getRep()
const;
113 #endif // SimTK_SIMBODY_MULTIBODY_SYSTEM_H_ 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
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
Every Simbody header and source file should include this header before any other Simbody header...
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
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
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
Real calcEnergy(const State &s) const
Calculate the total energy of the system.
Definition: MultibodySystem.h:80
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
#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:580
This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54