1 #ifndef SimTK_SIMBODY_ELASTIC_FOUNDATION_FORCE_H_
2 #define SimTK_SIMBODY_ELASTIC_FOUNDATION_FORCE_H_
35 class GeneralContactSubsystem;
36 class ElasticFoundationForceImpl;
119 Real staticFriction,
Real dynamicFriction,
Real viscousFriction);
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
This class implements an elastic foundation or "bed of springs" contact model.
Definition: ElasticFoundationForce.h:96
ElasticFoundationForce(GeneralForceSubsystem &forces, GeneralContactSubsystem &contacts, ContactSetIndex contactSet)
Create an elastic foundation contact model.
void setBodyParameters(ContactSurfaceIndex surfIndex, Real stiffness, Real dissipation, Real staticFriction, Real dynamicFriction, Real viscousFriction)
Set the material parameters for a surface in the contact set, which must be a ContactGeometry::Triang...
void setTransitionVelocity(Real v)
Set the transition velocity (vt) of the friction model.
Real getTransitionVelocity() const
Get the transition velocity (vt) of the friction model.
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(ElasticFoundationForce, ElasticFoundationForceImpl, Force)
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
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:607