Simbody  3.6
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1 #ifndef SimTK_SIMBODY_FORCE_H_
2 #define SimTK_SIMBODY_FORCE_H_
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 *
11  * *
12  * Portions copyright (c) 2008-13 Stanford University and the Authors. *
13  * Authors: Peter Eastman, Michael Sherman *
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 *
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  * -------------------------------------------------------------------------- */
27 #include "SimTKcommon.h"
31 namespace SimTK {
33 class SimbodyMatterSubsystem;
34 class GeneralForceSubsystem;
35 class MobilizedBody;
36 class Force;
37 class ForceImpl;
39 // We only want the template instantiation to occur once. This symbol is defined
40 // in the SimTK core compilation unit that defines the Force class but should
41 // not be defined any other time.
43  extern template class PIMPLHandle<Force, ForceImpl, true>;
44 #endif
51 public:
62  void disable(State&) const;
66  void enable(State&) const;
70  bool isDisabled(const State&) const;
76  void setDisabledByDefault(bool shouldBeDisabled);
80  bool isDisabledByDefault() const;
128  void calcForceContribution(const State& state,
129  Vector_<SpatialVec>& bodyForces,
130  Vector_<Vec3>& particleForces,
131  Vector& mobilityForces) const;
143  Real calcPotentialEnergyContribution(const State& state) const;
152  Force() {}
156  operator ForceIndex() const {return getForceIndex();}
160  const GeneralForceSubsystem& getForceSubsystem() const;
164  ForceIndex getForceIndex() const;
167  class TwoPointLinearSpring;
168  class TwoPointLinearDamper;
169  class TwoPointConstantForce;
170  class MobilityLinearSpring;
171  class MobilityLinearDamper;
172  class MobilityConstantForce;
173  class MobilityLinearStop;
174  class MobilityDiscreteForce;
175  class DiscreteForces;
176  class LinearBushing;
177  class ConstantForce;
178  class ConstantTorque;
179  class GlobalDamper;
180  class Thermostat;
181  class UniformGravity;
182  class Gravity;
183  class Custom;
185  class TwoPointLinearSpringImpl;
186  class TwoPointLinearDamperImpl;
187  class TwoPointConstantForceImpl;
188  class MobilityLinearSpringImpl;
189  class MobilityLinearDamperImpl;
190  class MobilityConstantForceImpl;
191  class MobilityLinearStopImpl;
192  class MobilityDiscreteForceImpl;
193  class DiscreteForcesImpl;
194  class LinearBushingImpl;
195  class ConstantForceImpl;
196  class ConstantTorqueImpl;
197  class GlobalDamperImpl;
198  class ThermostatImpl;
199  class UniformGravityImpl;
200  class GravityImpl;
201  class CustomImpl;
203 protected:
206  explicit Force(ForceImpl* r) : HandleBase(r) { }
207 };
222 public:
234  TwoPointLinearSpring(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1, const MobilizedBody& body2, const Vec3& station2, Real k, Real x0);
240 };
255 public:
266  TwoPointLinearDamper(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1, const MobilizedBody& body2, const Vec3& station2, Real damping);
272 };
286 public:
297  TwoPointConstantForce(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1, const MobilizedBody& body2, const Vec3& station2, Real force);
303 };
314 public:
315  ConstantForce(GeneralForceSubsystem& forces, const MobilizedBody& body, const Vec3& station, const Vec3& force);
321 };
331 public:
332  ConstantTorque(GeneralForceSubsystem& forces, const MobilizedBody& body, const Vec3& torque);
338 };
355 public:
356  GlobalDamper(GeneralForceSubsystem& forces, const SimbodyMatterSubsystem& matter, Real damping);
362 };
375 public:
377  const SimbodyMatterSubsystem& matter,
378  const Vec3& g, Real zeroHeight=0);
383  Vec3 getGravity() const;
384  void setGravity(const Vec3& g);
385  Real getZeroHeight() const;
386  void setZeroHeight(Real height);
388 };
390 } // namespace SimTK
392 #endif // SimTK_SIMBODY_FORCE_H_
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
A constant force applied to a body station.
Definition: Force.h:313
This force element represents a bushing acting to connect a frame F fixed on one body (B1) to a frame...
Definition: Force_LinearBushing.h:101
This is a feedback-controlled force that uses Nose&#39;-Hoover chains to maintain a particular temperatur...
Definition: Force_Thermostat.h:131
This is the vector class intended to appear in user code for large, variable size column vectors...
Definition: BigMatrix.h:171
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This force element represents a uniform gravitational field applied to a set of bodies.
Definition: Force_Gravity.h:70
A linear spring that acts along or around a mobility coordinate to apply a generalized force there...
Definition: Force_MobilityLinearSpring.h:49
A force which resists changes in the distance between two points, acting along the line between those...
Definition: Force.h:254
Default constructor creates an empty handle.
Definition: Force.h:269
A discrete mobility (generalized) force f applied to a particular mobility that is specified at const...
Definition: Force_MobilityDiscreteForce.h:52
Model a compliant stop element that acts to keep a mobilizer coordinate q within specified bounds...
Definition: Force_MobilityLinearStop.h:65
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 object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
A constant generalized force f (a scalar) applied to a mobility.
Definition: Force_MobilityConstantForce.h:45
Default constructor creates an empty handle.
Definition: Force.h:359
This class is used to define new force elements.
Definition: Force_Custom.h:193
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
Default constructor creates an empty handle.
Definition: Force.h:335
This type represents the index of a Force element within its subsystem.
Definition: PrivateImplementation.h:343
Default constructor for Force handle base class does nothing.
Definition: Force.h:152
Default constructor creates an empty handle.
Definition: Force.h:381
A uniform gravitational force applied to every body in the system. See Force::Gravity for a more flex...
Definition: Force.h:374
A constant force f (a signed scalar) which acts along the line between two points, specified as a station on each of two bodies.
Definition: Force.h:285
Default constructor creates an empty handle.
Definition: Force.h:237
Default constructor creates an empty handle.
Definition: Force.h:318
A constant torque to a body.
Definition: Force.h:330
Force(ForceImpl *r)
Use this in a derived Force handle class constructor to supply the concrete implementation object to ...
Definition: Force.h:206
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
Definition: Simbody/include/simbody/internal/common.h:68
A linear damper that acts along or around a mobility coordinate to apply a generalized force there...
Definition: Force_MobilityLinearDamper.h:46
A MobilizedBody is Simbody&#39;s fundamental body-and-joint object used to parameterize a system&#39;s motion...
Definition: MobilizedBody.h:168
Default constructor creates an empty handle.
Definition: Force.h:300
A linear spring between two points, specified as a station on each of two bodies. ...
Definition: Force.h:221
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition: Force_DiscreteForces.h:41
A general energy "drain" on the system.
Definition: Force.h:354