1 #ifndef SimTK_SIMBODY_CONSTRAINT_BALL_H_ 2 #define SimTK_SIMBODY_CONSTRAINT_BALL_H_ 76 void setPointOnBody1(
State& state,
const Vec3& point_B1)
const;
81 void setPointOnBody2(
State& state,
const Vec3& point_B2)
const;
85 const Vec3& getPointOnBody1(
const State& state)
const;
88 const Vec3& getPointOnBody2(
const State& state)
const;
94 Ball& setDefaultPointOnBody1(
const Vec3& defaultPoint_B1);
99 Ball& setDefaultPointOnBody2(
const Vec3& defaultPoint_B2);
105 const Vec3& getDefaultPointOnBody1()
const;
110 const Vec3& getDefaultPointOnBody2()
const;
118 Real getDefaultRadius()
const;
131 Vec3 getPositionErrors(
const State& state)
const;
139 Vec3 getVelocityErrors(
const State& state)
const;
149 Vec3 getAccelerationErrors(
const State&)
const;
154 Vec3 getBallReactionForceOnBody1(
const State&)
const;
158 Vec3 getBallReactionForceOnBody2(
const State&)
const;
167 Vec3 getMultipliers(
const State& state)
const;
177 #endif // SimTK_SIMBODY_CONSTRAINT_BALL_H_ This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
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:606
Ball()
Default constructor creates an empty handle.
Definition: Constraint_Ball.h:70
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This defines the base Constraint class and related classes, which are used to specify limitations on ...
Enforce that a fixed station on one body remains coincident with a fixed station on a second body...
Definition: Constraint_Ball.h:57
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66