1 #ifndef SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
2 #define SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
59 clearAllMobilityForces(state);
60 clearAllBodyForces(state);
121 const Vec3& pointInB,
122 const Vec3& forceInG)
const;
176 DiscreteForcesImpl,
Force);
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
Includes internal headers providing declarations for the basic SimTK Core classes,...
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition: Force_DiscreteForces.h:41
void setAllMobilityForces(State &state, const Vector &f) const
Set all the generalized forces at once.
void addForceToBodyPoint(State &state, const MobilizedBody &mobod, const Vec3 &pointInB, const Vec3 &forceInG) const
Convenience method to add in a force applied at a point (station) on a particular body into the force...
DiscreteForces()
Default constructor creates an empty handle.
Definition: Force_DiscreteForces.h:54
void setOneBodyForce(State &state, const MobilizedBody &mobod, const SpatialVec &spatialForceInG) const
Change the value of the discrete spatial force (force and torque) to be applied to a body in the give...
const Vector & getAllMobilityForces(const State &state) const
Get a reference to the internal Vector of all the generalized forces currently set to be applied by t...
void clearAllBodyForces(State &state) const
Set to zero all body spatial forces (force and torques) stored by this force element in the given sta...
const Vector_< SpatialVec > & getAllBodyForces(const State &state) const
Get a reference to the internal Vector of all the body spatial forces currently set to be applied by ...
Real getOneMobilityForce(const State &state, const MobilizedBody &mobod, MobilizerUIndex whichU) const
Return the value for a generalized force that is stored in the given state.
void clearAllMobilityForces(State &state) const
Set to zero all generalized forces stored by this force element in the given state.
DiscreteForces(GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter)
Create a DiscreteForces force element.
void clearAllForces(State &state) const
Set to zero all forces stored by this force element in the given state, including both generalized fo...
Definition: Force_DiscreteForces.h:58
void setOneMobilityForce(State &state, const MobilizedBody &mobod, MobilizerUIndex whichU, Real force) const
Change the value of a generalized force to be applied in the given state.
void setAllBodyForces(State &state, const Vector_< SpatialVec > &bodyForcesInG) const
Set all the body spatial forces at once.
SpatialVec getOneBodyForce(const State &state, const MobilizedBody &mobod) const
Return the value for the discrete spatial force (force and torque) on a particular body that is store...
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
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
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 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