1 #ifndef SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_ 2 #define SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_ 59 clearAllMobilityForces(state);
60 clearAllBodyForces(state);
65 void clearAllMobilityForces(
State& state)
const;
68 void clearAllBodyForces(
State& state)
const;
121 const Vec3& pointInB,
122 const Vec3& forceInG)
const;
132 void setAllMobilityForces(
State& state,
const Vector& f)
const;
144 void setAllBodyForces(
State& state,
166 const Vector& getAllMobilityForces(
const State& state)
const;
176 DiscreteForcesImpl,
Force);
182 #endif // SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_ 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
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:606
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
DiscreteForces()
Default constructor creates an empty handle.
Definition: Force_DiscreteForces.h:54
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
void clearAllForces(State &state) const
Set to zero all forces stored by this force element in the given state, including both generalized fo...
Definition: Force_DiscreteForces.h:58
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:68
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition: Force_DiscreteForces.h:41
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...