1 #ifndef SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_
2 #define SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_
43 class ParticleConSurfaceSystem;
62 :
Guts(), geom(geom) {
88 Vector& dq)
const override {dq=u;}
90 Vector& fu)
const override {fu=fq;}
92 Vector& u)
const override {u=dq;}
94 Vector& fq)
const override {fq=fu;}
106 const ContactGeometryImpl& geom;
123 return SimTK_DYNAMIC_CAST_DEBUG<const ParticleConSurfaceSystemGuts&>
128 return SimTK_DYNAMIC_CAST_DEBUG<ParticleConSurfaceSystemGuts&>
This file defines the BicubicSurface class, and the BicubicFunction class that uses it to create a tw...
Includes internal headers providing declarations for the basic SimTK Core classes,...
This is a concrete Subsystem that is part of every System. It provides a variety of services for the ...
Definition: System.h:910
This unique integer type is for selecting discrete variables.
Unique integer type for Subsystem-local, per-stage event indexing.
Definition: ParticleConSurfaceSystem.h:44
void projectUImpl(State &, Vector &uErrEst, const ProjectOptions &options, ProjectResults &results) const override
int realizeTopologyImpl(State &) const override
void multiplyByNPInvTransposeImpl(const State &state, const Vector &fu, Vector &fq) const override
Definition: ParticleConSurfaceSystem.h:93
SubsystemIndex getSubsysIndex() const
Definition: ParticleConSurfaceSystem.h:68
void multiplyByNTransposeImpl(const State &state, const Vector &fq, Vector &fu) const override
Definition: ParticleConSurfaceSystem.h:89
void multiplyByNImpl(const State &state, const Vector &u, Vector &dq) const override
Definition: ParticleConSurfaceSystem.h:87
int realizeVelocityImpl(const State &) const override
int realizePositionImpl(const State &) const override
void multiplyByNPInvImpl(const State &state, const Vector &dq, Vector &u) const override
Definition: ParticleConSurfaceSystem.h:91
ParticleConSurfaceSystemGuts(const ContactGeometryImpl &geom)
Definition: ParticleConSurfaceSystem.h:61
int realizeAccelerationImpl(const State &) const override
bool prescribeQImpl(State &) const override
Definition: ParticleConSurfaceSystem.h:97
int realizeModelImpl(State &) const override
int realizeInstanceImpl(const State &) const override
int realizeDynamicsImpl(const State &) const override
void projectQImpl(State &, Vector &qErrEst, const ProjectOptions &options, ProjectResults &results) const override
bool prescribeUImpl(State &) const override
Definition: ParticleConSurfaceSystem.h:98
ParticleConSurfaceSystemGuts * cloneImpl() const override
Definition: ParticleConSurfaceSystem.h:72
const ParticleConSurfaceSystem & getParticleConSurfaceSystem() const
Definition: ParticleConSurfaceSystem.h:144
Definition: ParticleConSurfaceSystem.h:111
const ParticleConSurfaceSystemGuts & getGuts() const
Definition: ParticleConSurfaceSystem.h:122
ParticleConSurfaceSystem(const ContactGeometryImpl &geom)
Definition: ParticleConSurfaceSystem.h:113
void setDefaultTimeAndState(Real t, const Vector &q, const Vector &u)
Definition: ParticleConSurfaceSystem.h:132
ParticleConSurfaceSystemGuts & updGuts()
Definition: ParticleConSurfaceSystem.h:127
Options for the advanced project() methods.
Definition: System.h:950
Results for advanced users of project() methods.
Definition: System.h:1067
Unique integer type for Subsystem-local qErr indexing.
Unique integer type for Subsystem-local q indexing.
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Vector & updU(SubsystemIndex)
Vector & updQ(SubsystemIndex)
Real & updTime()
You can call these as long as System stage >= Model, but the stage will be backed up if necessary to ...
Provide a unique integer type for identifying Subsystems.
SubsystemIndex getMySubsystemIndex() const
Return the SubsystemIndex within the containing System.
Definition: SubsystemGuts.h:495
This is the declaration for the System::Guts class, the abstract object to which a System handle poin...
Definition: SystemGuts.h:71
Guts(const String &name="<NONAME>", const String &version="0.0.0")
const System & getSystem() const
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
const Guts & getSystemGuts() const
Obtain a const reference to the System::Guts object to which this handle refers.
Definition: System.h:872
void adoptSystemGuts(System::Guts *g)
Put new unowned Guts into this empty handle and take over ownership.
Guts & updSystemGuts()
Obtain a writable reference to the System::Guts object to which this handle refers.
Definition: System.h:876
State & updDefaultState()
Don't use this; make a copy of the default state instead and modify your copy.
void setHasTimeAdvancedEvents(bool)
This determines whether this System wants to be notified whenever time advances irreversibly.
Unique integer type for Subsystem-local uDotErr indexing.
Unique integer type for Subsystem-local uErr indexing.
Unique integer type for Subsystem-local u indexing.
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