1 #ifndef SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
2 #define SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
54 return MultibodySystem::downcast(
getSystem());
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.
Public declaration of internals for ForceSubsystem extension.
Definition: ForceSubsystemGuts.h:39
Guts(const String &name, const String &version)
Definition: ForceSubsystemGuts.h:41
virtual ~Guts()
Destructor is virtual to permit cleanup of derived classes.
Definition: ForceSubsystemGuts.h:48
virtual Real calcPotentialEnergy(const State &state) const =0
Get this subsystem's contribution to the potential energy.
const MultibodySystem & getMultibodySystem() const
Definition: ForceSubsystemGuts.h:53
SimTK_DOWNCAST(ForceSubsystem::Guts, Subsystem::Guts)
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:65
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
const System & getSystem() const
Definition: SubsystemGuts.h:302
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
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