1 #ifndef SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_ 2 #define SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_ 32 class MultibodySystem;
34 class ContactGeometry;
65 ContactSetIndex createContactSet();
69 int getNumContactSets()
const;
82 int getNumBodies(ContactSetIndex
set)
const;
127 class GeneralContactSubsystemImpl& updImpl();
128 const GeneralContactSubsystemImpl& getImpl()
const;
133 #endif // SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_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:593
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
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:280
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
#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