1 #ifndef SimTK_SIMBODY_FORCE_H_
2 #define SimTK_SIMBODY_FORCE_H_
33 class SimbodyMatterSubsystem;
34 class GeneralForceSubsystem;
42 #ifndef SimTK_SIMBODY_DEFINING_FORCE
43 extern template class PIMPLHandle<Force, ForceImpl, true>;
133 Vector& mobilityForces)
const;
187 class TwoPointLinearSpringImpl;
188 class TwoPointLinearDamperImpl;
189 class TwoPointConstantForceImpl;
190 class MobilityLinearSpringImpl;
191 class MobilityLinearDamperImpl;
192 class MobilityConstantForceImpl;
193 class MobilityLinearStopImpl;
194 class MobilityDiscreteForceImpl;
195 class DiscreteForcesImpl;
196 class LinearBushingImpl;
197 class ConstantForceImpl;
198 class ConstantTorqueImpl;
199 class GlobalDamperImpl;
200 class ThermostatImpl;
201 class UniformGravityImpl;
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 type represents the index of a Force element within its subsystem.
A constant force applied to a body station.
Definition: Force.h:315
ConstantForce()
Default constructor creates an empty handle.
Definition: Force.h:320
ConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &body, const Vec3 &station, const Vec3 &force)
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(ConstantForce, ConstantForceImpl, Force)
A constant torque to a body.
Definition: Force.h:332
ConstantTorque()
Default constructor creates an empty handle.
Definition: Force.h:337
ConstantTorque(GeneralForceSubsystem &forces, const MobilizedBody &body, const Vec3 &torque)
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(ConstantTorque, ConstantTorqueImpl, Force)
This class is used to define new force elements.
Definition: Force_Custom.h:193
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition: Force_DiscreteForces.h:41
A general energy "drain" on the system.
Definition: Force.h:356
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(GlobalDamper, GlobalDamperImpl, Force)
GlobalDamper()
Default constructor creates an empty handle.
Definition: Force.h:361
GlobalDamper(GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter, Real damping)
This force element represents a uniform gravitational field applied to a set of bodies.
Definition: Force_Gravity.h:70
This force element represents a bushing acting to connect a frame F fixed on one body (B1) to a frame...
Definition: Force_LinearBushing.h:101
A constant generalized force f (a scalar) applied to a mobility.
Definition: Force_MobilityConstantForce.h:45
A discrete mobility (generalized) force f applied to a particular mobility that is specified at const...
Definition: Force_MobilityDiscreteForce.h:52
A linear damper that acts along or around a mobility coordinate to apply a generalized force there.
Definition: Force_MobilityLinearDamper.h:46
A linear spring that acts along or around a mobility coordinate to apply a generalized force there.
Definition: Force_MobilityLinearSpring.h:49
Model a compliant stop element that acts to keep a mobilizer coordinate q within specified bounds.
Definition: Force_MobilityLinearStop.h:65
This is a feedback-controlled force that uses Nose'-Hoover chains to maintain a particular temperatur...
Definition: Force_Thermostat.h:131
A constant force f (a signed scalar) which acts along the line between two points,...
Definition: Force.h:287
TwoPointConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real force)
Create a TwoPointConstantForce.
TwoPointConstantForce()
Default constructor creates an empty handle.
Definition: Force.h:302
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(TwoPointConstantForce, TwoPointConstantForceImpl, Force)
A force which resists changes in the distance between two points, acting along the line between those...
Definition: Force.h:256
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(TwoPointLinearDamper, TwoPointLinearDamperImpl, Force)
TwoPointLinearDamper()
Default constructor creates an empty handle.
Definition: Force.h:271
TwoPointLinearDamper(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real damping)
Create a TwoPointLinearDamper.
A linear spring between two points, specified as a station on each of two bodies.
Definition: Force.h:223
TwoPointLinearSpring(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real k, Real x0)
Create a TwoPointLinearSpring.
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(TwoPointLinearSpring, TwoPointLinearSpringImpl, Force)
TwoPointLinearSpring()
Default constructor creates an empty handle.
Definition: Force.h:239
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
void disable(State &) const
Disable this force element, effectively removing it from the System for computational purposes (it is...
bool isDisabledByDefault() const
Test whether this force element is disabled by default in which case it must be explicitly enabled be...
Force()
Default constructor for Force handle base class does nothing.
Definition: Force.h:154
const GeneralForceSubsystem & getForceSubsystem() const
Get the GeneralForceSubsystem of which this Force is an element.
ForceIndex getForceIndex() const
Get the index of this force element within its parent force subsystem.
void calcForceContribution(const State &state, Vector_< SpatialVec > &bodyForces, Vector_< Vec3 > &particleForces, Vector &mobilityForces) const
Calculate the force that would be applied by this force element if the given state were realized to D...
void enable(State &) const
Enable this force element if it was previously disabled.
void setDisabledByDefault(bool shouldBeDisabled)
Normally force elements are enabled when defined and can be disabled later.
bool isDisabled(const State &) const
Test whether this force element is currently disabled in the supplied State.
Real calcPotentialEnergyContribution(const State &state) const
Calculate the potential energy contribution that is made by this force element at the given state.
Force(ForceImpl *r)
Use this in a derived Force handle class constructor to supply the concrete implementation object to ...
Definition: Force.h:208
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the vector class intended to appear in user code for large, variable size column vectors.
Definition: Vector_.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:607