Force_Custom.h

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#ifndef SimTK_SIMBODY_FORCE_CUSTOM_H_
#define SimTK_SIMBODY_FORCE_CUSTOM_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2008-13 Stanford University and the Authors.        *
 * Authors: Peter Eastman, Michael Sherman                                    *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simbody/internal/Force.h"

namespace SimTK {

class SimTK_SIMBODY_EXPORT Force::Custom : public Force {
public:
    class Implementation;
    Custom(GeneralForceSubsystem& forces, Implementation* implementation);
    
    Custom() {}
 // don't let Doxygen see this
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Custom, CustomImpl, Force);
protected:
    const Implementation& getImplementation() const;
    Implementation& updImplementation();
};

class SimTK_SIMBODY_EXPORT Force::Custom::Implementation {
public:
    virtual ~Implementation() { }
    virtual void calcForce(const State& state, Vector_<SpatialVec>& bodyForces, Vector_<Vec3>& particleForces, Vector& mobilityForces) const = 0;
    virtual Real calcPotentialEnergy(const State& state) const = 0;
    virtual bool dependsOnlyOnPositions() const {
        return false;
    }
    virtual void realizeTopology(State& state) const {}
    virtual void realizeModel(State& state) const {}
    virtual void realizeInstance(const State& state) const {}
    virtual void realizeTime(const State& state) const {}
    virtual void realizePosition(const State& state) const {}
    virtual void realizeVelocity(const State& state) const {}
    virtual void realizeDynamics(const State& state) const {}
    virtual void realizeAcceleration(const State& state) const {}
    virtual void realizeReport(const State& state) const {}

    virtual void calcDecorativeGeometryAndAppend
       (const State& state, Stage stage, 
        Array_<DecorativeGeometry>& geometry) const {}

};

} // namespace SimTK

#endif // SimTK_SIMBODY_FORCE_CUSTOM_H_