1 #ifndef SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
2 #define SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
41 class DecorationGenerator;
42 class DecorativeGeometry;
44 class MultibodySystem;
78 const DecorationSubsystemGuts&
getGuts()
const;
Includes internal headers providing declarations for the basic SimTK Core classes,...
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
A DecorationGenerator is used to define geometry that may change over the course of a simulation.
Definition: DecorationGenerator.h:45
This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54
void addBodyFixedDecoration(MobilizedBodyIndex bodyNum, const Transform &X_GD, const DecorativeGeometry &)
class DecorationSubsystemGuts & updGuts()
void addDecorationGenerator(Stage stage, DecorationGenerator *generator)
Add a DecorationGenerator that will be invoked to add dynamically generated geometry to the scene.
void addRubberBandLine(MobilizedBodyIndex b1, const Vec3 &station1, MobilizedBodyIndex b2, const Vec3 &station2, const DecorativeLine &)
SimTK_PIMPL_DOWNCAST(DecorationSubsystem, Subsystem)
DecorationSubsystem(MultibodySystem &)
const DecorationSubsystemGuts & getGuts() const
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
A line between two points.
Definition: DecorativeGeometry.h:306
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
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