Go to the documentation of this file. 1 #ifndef SimTK_SIMBODY_FORCE_CUSTOM_H_
2 #define SimTK_SIMBODY_FORCE_CUSTOM_H_
213 const Implementation& getImplementation()
const;
214 Implementation& updImplementation();
241 virtual Real calcPotentialEnergy(
const State& state)
const = 0;
280 virtual void calcDecorativeGeometryAndAppend
288 #endif // SimTK_SIMBODY_FORCE_CUSTOM_H_
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
virtual void realizeAcceleration(const State &state) const
Definition: Force_Custom.h:274
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
virtual void realizeInstance(const State &state) const
Definition: Force_Custom.h:269
virtual void realizeVelocity(const State &state) const
Definition: Force_Custom.h:272
virtual bool dependsOnlyOnPositions() const
Get whether this force depends only on the position variables (q), not on the velocies (u) or auxilia...
Definition: Force_Custom.h:247
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
virtual bool shouldBeParallelIfPossible() const
Returns a boolean flag telling Simbody whether this Force type should be calculated in parallel if po...
Definition: Force_Custom.h:261
virtual void realizeDynamics(const State &state) const
Definition: Force_Custom.h:273
virtual void realizePosition(const State &state) const
Definition: Force_Custom.h:271
Custom()
Default constructor creates an empty handle.
Definition: Force_Custom.h:207
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
virtual ~Implementation()
Definition: Force_Custom.h:223
This class is used to define new force elements.
Definition: Force_Custom.h:193
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
virtual void realizeTime(const State &state) const
Definition: Force_Custom.h:270
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
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
virtual void realizeModel(State &state) const
Definition: Force_Custom.h:268
This is the vector class intended to appear in user code for large, variable size column vectors.
Definition: BigMatrix.h:171
Every custom force requires implementation of a class that is derived from this abstract class....
Definition: Force_Custom.h:221
virtual void realizeReport(const State &state) const
Definition: Force_Custom.h:275
virtual void realizeTopology(State &state) const
The following methods may optionally be overridden to do specialized realization for a Force.
Definition: Force_Custom.h:267