Every custom force requires implementation of a class that is derived from this abstract class. See Force::Custom for details. More...

Public Member Functions
virtual	~Implementation ()

virtual void	calcForce (const State &state, Vector_< SpatialVec > &bodyForces, Vector_< Vec3 > &particleForces, Vector &mobilityForces) const =0
	Calculate the force for a given state. More...

virtual Real	calcPotentialEnergy (const State &state) const =0
	Calculate this force's contribution to the potential energy of the System. More...

virtual bool	dependsOnlyOnPositions () const
	Get whether this force depends only on the position variables (q), not on the velocies (u) or auxiliary variables (z). More...

virtual bool	shouldBeParallelIfPossible () const
	Returns a boolean flag telling Simbody whether this Force type should be calculated in parallel if possible. More...

virtual void	calcDecorativeGeometryAndAppend (const State &state, Stage stage, Array_< DecorativeGeometry > &geometry) const
	Override this if you want to generate some geometry for the visualizer to display. More...


virtual void	realizeTopology (State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeModel (State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeInstance (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeTime (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizePosition (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeVelocity (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeDynamics (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeAcceleration (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

virtual void	realizeReport (const State &state) const
	The following methods may optionally be overridden to do specialized realization for a Force. More...

Detailed Description

Every custom force requires implementation of a class that is derived from this abstract class. See Force::Custom for details.

Constructor & Destructor Documentation

◆ ~Implementation()

virtual SimTK::Force::Custom::Implementation::~Implementation ( )

inlinevirtual

Member Function Documentation

◆ calcForce()

virtual void SimTK::Force::Custom::Implementation::calcForce	(	const State &	state,
		Vector_< SpatialVec > &	bodyForces,
		Vector_< Vec3 > &	particleForces,
		Vector &	mobilityForces
	)		const

pure virtual

Calculate the force for a given state.

Parameters

state	the State for which to calculate the force
bodyForces	spatial forces on MobilizedBodies are accumulated in this. To apply a force to a body, add it to the appropriate element of this vector.
particleForces	forces on particles are accumulated in this. Since particles are not yet implemented, this is ignored.
mobilityForces	forces on individual mobilities (elements of the state's u vector) are accumulated in this. To apply a force to a mobility, add it to the appropriate element of this vector.

◆ calcPotentialEnergy()

virtual Real SimTK::Force::Custom::Implementation::calcPotentialEnergy ( const State & state ) const

pure virtual

Calculate this force's contribution to the potential energy of the System.

Parameters

state the State for which to calculate the potential energy

◆ dependsOnlyOnPositions()

virtual bool SimTK::Force::Custom::Implementation::dependsOnlyOnPositions ( ) const

inlinevirtual

Get whether this force depends only on the position variables (q), not on the velocies (u) or auxiliary variables (z).

The default implementation returns false. If the force depends only on positions, you should override this to return true. This allows force calculations to be optimized in some cases.

◆ shouldBeParallelIfPossible()

virtual bool SimTK::Force::Custom::Implementation::shouldBeParallelIfPossible ( ) const

inlinevirtual

Returns a boolean flag telling Simbody whether this Force type should be calculated in parallel if possible.

By default, this method returns false.

Note: : By overriding this method, you are telling Simbody that (1) the Force class is computationally expensive to calculate and (2) the Force class is thread safe such that multiple instances of the Force class will not rely on any shared cache variables in the state. See getStateLock() in SimTK::State.