Simbody  3.6
ElasticFoundationForce.h
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1 #ifndef SimTK_SIMBODY_ELASTIC_FOUNDATION_FORCE_H_
2 #define SimTK_SIMBODY_ELASTIC_FOUNDATION_FORCE_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2008-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 
28 #include "SimTKcommon.h"
29 
31 #include "simbody/internal/Force.h"
32 
33 namespace SimTK {
34 
35 class GeneralContactSubsystem;
36 class ElasticFoundationForceImpl;
37 
97 public:
105  ElasticFoundationForce(GeneralForceSubsystem& forces, GeneralContactSubsystem& contacts, ContactSetIndex contactSet);
117  void setBodyParameters
118  (ContactSurfaceIndex surfIndex, Real stiffness, Real dissipation,
119  Real staticFriction, Real dynamicFriction, Real viscousFriction);
123  Real getTransitionVelocity() const;
127  void setTransitionVelocity(Real v);
129 };
130 
131 } // namespace SimTK
132 
133 #endif // SimTK_SIMBODY_ELASTIC_FOUNDATION_FORCE_H_
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This defines a unique index for all the contact surfaces being handled either by a ContactTrackerSubs...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Every Simbody header and source file should include this header before any other Simbody header...
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
This class performs collision detection for use in contact modeling.
Definition: GeneralContactSubsystem.h:57
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This class implements an elastic foundation or "bed of springs" contact model.
Definition: ElasticFoundationForce.h:96
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68