1 #ifndef SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
2 #define SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
34 class SimbodyMatterSubsystem;
36 class DecorationSubsystem;
37 class GeneralContactSubsystem;
81 return calcPotentialEnergy(s)+calcKineticEnergy(s);
105 const MultibodySystemRep&
getRep()
const;
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 is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete.
Definition: ForceSubsystem.h:36
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
int setContactSubsystem(GeneralContactSubsystem &)
const MultibodySystemRep & getRep() const
const GeneralContactSubsystem & getContactSubsystem() const
Real calcEnergy(const State &s) const
Calculate the total energy of the system.
Definition: MultibodySystem.h:80
const Vector_< SpatialVec > & getRigidBodyForces(const State &, Stage) const
bool hasDecorationSubsystem() const
const DecorationSubsystem & getDecorationSubsystem() const
SimbodyMatterSubsystem & updMatterSubsystem()
Vector & updMobilityForces(const State &, Stage) const
const Vector_< Vec3 > & getParticleForces(const State &, Stage) const
int addForceSubsystem(ForceSubsystem &)
bool hasContactSubsystem() const
Vector_< Vec3 > & updParticleForces(const State &, Stage) const
bool hasMatterSubsystem() const
const SimbodyMatterSubsystem & getMatterSubsystem() const
int setMatterSubsystem(SimbodyMatterSubsystem &)
int setDecorationSubsystem(DecorationSubsystem &)
MultibodySystem(MultibodySystemRep *)
MultibodySystem(SimbodyMatterSubsystem &m)
const Real calcPotentialEnergy(const State &) const
Calculate the total potential energy of the system.
const Vector & getMobilityForces(const State &, Stage) const
SimTK_PIMPL_DOWNCAST(MultibodySystem, System)
const Real calcKineticEnergy(const State &) const
Calculate the total kinetic energy of the system.
class MultibodySystemRep & updRep()
Vector_< SpatialVec > & updRigidBodyForces(const State &, Stage) const
GeneralContactSubsystem & updContactSubsystem()
DecorationSubsystem & updDecorationSubsystem()
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
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