GeneralForceSubsystem.h

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#ifndef SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
#define SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
 
/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2006-12 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors: Chris Dembia, Thomas Lau                                     *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */
 
#include "simbody/internal/common.h"
#include "simbody/internal/ForceSubsystem.h"
 
#include <cassert>
 
namespace SimTK {
 
class MultibodySystem;
class SimbodyMatterSubsystem;
class Force;
 
class SimTK_SIMBODY_EXPORT GeneralForceSubsystem : public ForceSubsystem {
public:
    GeneralForceSubsystem();
    explicit GeneralForceSubsystem(MultibodySystem&);
 
    ForceIndex adoptForce(Force& force);
    
    int getNumForces() const;
 
    const Force& getForce(ForceIndex index) const;
 
    Force& updForce(ForceIndex index);
 
    bool isForceDisabled(const State& state, ForceIndex index) const;
    
    void setForceIsDisabled
       (State& state, ForceIndex index, bool shouldBeDisabled) const;
       
    void setNumberOfThreads(unsigned numThreads);
    
    int getNumberOfThreads() const;
    
    void calcForceContributionsSum(
        const State& s, const Array_<ForceIndex>& forceIndexes, 
        Vector_<SpatialVec>& bodyForces, Vector& mobilityForces) const;
 
    const MultibodySystem& getMultibodySystem() const;
   // don't show in Doxygen docs
    SimTK_PIMPL_DOWNCAST(GeneralForceSubsystem, ForceSubsystem);
private:
    // OBSOLETE; use getNumForces() instead.
    int getNForces() const {return getNumForces();}
 
    class GeneralForceSubsystemRep& updRep();
    const GeneralForceSubsystemRep& getRep() const;
};
 
} // namespace SimTK
 
#endif // SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_