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| | UniformGravity (GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter, const Vec3 &g, Real zeroHeight=0) |
| |
| | UniformGravity () |
| | Default constructor creates an empty handle. More...
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| Vec3 | getGravity () const |
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| void | setGravity (const Vec3 &g) |
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| Real | getZeroHeight () const |
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| void | setZeroHeight (Real height) |
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| | SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (UniformGravity, UniformGravityImpl, Force) |
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| void | disable (State &) const |
| | Disable this force element, effectively removing it from the System for computational purposes (it is still using its ForceIndex, however). More...
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| void | enable (State &) const |
| | Enable this force element if it was previously disabled. More...
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| bool | isDisabled (const State &) const |
| | Test whether this force element is currently disabled in the supplied State. More...
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| |
| void | setDisabledByDefault (bool shouldBeDisabled) |
| | Normally force elements are enabled when defined and can be disabled later. More...
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| bool | isDisabledByDefault () const |
| | Test whether this force element is disabled by default in which case it must be explicitly enabled before it will take effect. More...
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| void | calcForceContribution (const State &state, Vector_< SpatialVec > &bodyForces, Vector_< Vec3 > &particleForces, Vector &mobilityForces) const |
| | Calculate the force that would be applied by this force element if the given state were realized to Dynamics stage. More...
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| Real | calcPotentialEnergyContribution (const State &state) const |
| | Calculate the potential energy contribution that is made by this force element at the given state. More...
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| |
| | Force () |
| | Default constructor for Force handle base class does nothing. More...
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| |
| | operator ForceIndex () const |
| | Implicit conversion to ForceIndex when needed. More...
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| const GeneralForceSubsystem & | getForceSubsystem () const |
| | Get the GeneralForceSubsystem of which this Force is an element. More...
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| ForceIndex | getForceIndex () const |
| | Get the index of this force element within its parent force subsystem. More...
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| |
 Public Member Functions inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > |
| bool | isEmptyHandle () const |
| | Returns true if this handle is empty, that is, does not refer to any implementation object. More...
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| bool | isOwnerHandle () const |
| | Returns true if this handle is the owner of the implementation object to which it refers. More...
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| bool | isSameHandle (const Force &other) const |
| | Determine whether the supplied handle is the same object as "this" PIMPLHandle. More...
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| void | disown (Force &newOwner) |
| | Give up ownership of the implementation to an empty handle. More...
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| PIMPLHandle & | referenceAssign (const Force &source) |
| | "Copy" assignment but with shallow (pointer) semantics. More...
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| PIMPLHandle & | copyAssign (const Force &source) |
| | This is real copy assignment, with ordinary C++ object ("value") semantics. More...
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| void | clearHandle () |
| | Make this an empty handle, deleting the implementation object if this handle is the owner of it. More...
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| const ForceImpl & | getImpl () const |
| | Get a const reference to the implementation associated with this Handle. More...
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| ForceImpl & | updImpl () |
| | Get a writable reference to the implementation associated with this Handle. More...
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| int | getImplHandleCount () const |
| | Return the number of handles the implementation believes are referencing it. More...
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|
| Public Types inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > |
| typedef PIMPLHandle< Force, ForceImpl, PTR > | HandleBase |
| |
| typedef HandleBase | ParentHandle |
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| | Force (ForceImpl *r) |
| | Use this in a derived Force handle class constructor to supply the concrete implementation object to be stored in the handle base. More...
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| Protected Member Functions inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > |
| | PIMPLHandle () |
| | The default constructor makes this an empty handle. More...
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| |
| | PIMPLHandle (ForceImpl *p) |
| | This provides consruction of a handle referencing an existing implementation object. More...
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| |
| | PIMPLHandle (const PIMPLHandle &source) |
| | The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer
semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...
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| |
| | ~PIMPLHandle () |
| | Note that the destructor is non-virtual. More...
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| PIMPLHandle & | operator= (const PIMPLHandle &source) |
| | Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...
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| void | setImpl (ForceImpl *p) |
| | Set the implementation for this empty handle. More...
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| bool | hasSameImplementation (const Force &other) const |
| | Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More...
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| |
A uniform gravitational force applied to every body in the system. See Force::Gravity for a more flexible option.
The UniformGravity force is specified by a vector in the Ground frame. You can optionally specify a height at which the gravitational potential energy is zero.
- See also
- SimTK::Force::Gravity
