Simbody  3.6
MultibodySystem.h
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1 #ifndef SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
2 #define SimTK_SIMBODY_MULTIBODY_SYSTEM_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) 2005-12 Stanford University and the Authors. *
13  * Authors: 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 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 #include "SimTKcommon.h"
29 
30 #include <vector>
31 
32 namespace SimTK {
33 
34 class SimbodyMatterSubsystem;
35 class ForceSubsystem;
36 class DecorationSubsystem;
37 class GeneralContactSubsystem;
38 
39 
49 public:
52 
53  // Steals ownership of the source; returns subsystem ID number.
54  int addForceSubsystem(ForceSubsystem&);
55 
56  int setMatterSubsystem(SimbodyMatterSubsystem&);
57  const SimbodyMatterSubsystem& getMatterSubsystem() const;
58  SimbodyMatterSubsystem& updMatterSubsystem();
59  bool hasMatterSubsystem() const;
60 
61  int setDecorationSubsystem(DecorationSubsystem&);
62  const DecorationSubsystem& getDecorationSubsystem() const;
63  DecorationSubsystem& updDecorationSubsystem();
64  bool hasDecorationSubsystem() const;
65 
66  int setContactSubsystem(GeneralContactSubsystem&);
67  const GeneralContactSubsystem& getContactSubsystem() const;
68  GeneralContactSubsystem& updContactSubsystem();
69  bool hasContactSubsystem() const;
70 
71 
74  const Real calcPotentialEnergy(const State&) const;
77  const Real calcKineticEnergy(const State&) const;
80  Real calcEnergy(const State& s) const {
81  return calcPotentialEnergy(s)+calcKineticEnergy(s);
82  }
83 
84  // These methods are for use by our constituent subsystems to communicate
85  // with each other and with the MultibodySystem as a whole.
86 
87  // These cache entries belong to the global subsystem, which zeroes them at
88  // the start of the corresponding stage. They are filled in by the force
89  // subsystems when they are realized to each stage. Forces are cumulative
90  // from stage to stage, so the Dynamics stage includes everything. That may
91  // then be accessed by the matter subsystem in Acceleration stage to
92  // generate the accelerations.
93  const Vector_<SpatialVec>& getRigidBodyForces(const State&, Stage) const;
94  const Vector_<Vec3>& getParticleForces (const State&, Stage) const;
95  const Vector& getMobilityForces (const State&, Stage) const;
96 
97  // These routines are for use by force subsystems during Dynamics stage.
98  Vector_<SpatialVec>& updRigidBodyForces(const State&, Stage) const;
99  Vector_<Vec3>& updParticleForces (const State&, Stage) const;
100  Vector& updMobilityForces (const State&, Stage) const;
101 
102  // Private implementation.
104  class MultibodySystemRep& updRep();
105  const MultibodySystemRep& getRep() const;
106 protected:
107  explicit MultibodySystem(MultibodySystemRep*);
108 };
109 
110 
111 } // namespace SimTK
112 
113 #endif // SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
SimTK::State
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
SimTK::DecorationSubsystem
This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54
SimTK::MultibodySystem::calcEnergy
Real calcEnergy(const State &s) const
Calculate the total energy of the system.
Definition: MultibodySystem.h:80
SimTK
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
SimTK_PIMPL_DOWNCAST
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
SimTKcommon.h
SimTK::SimbodyMatterSubsystem
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
SimTK::MultibodySystem
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
SimTK::Stage
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
SimTK_SIMBODY_EXPORT
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
SimTK::ForceSubsystem
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete.
Definition: ForceSubsystem.h:36
SimTK::Real
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
SimTK::GeneralContactSubsystem
This class performs collision detection for use in contact modeling.
Definition: GeneralContactSubsystem.h:57
SimTK::Vector_
This is the vector class intended to appear in user code for large, variable size column vectors.
Definition: BigMatrix.h:171
SimTK::System
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97
common.h