Force_DiscreteForces.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
#define SimTK_SIMBODY_FORCE_DISCRETE_FORCES_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) 2013 Stanford University and the Authors.           *
 * Authors: 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::DiscreteForces : public Force {
public:
    DiscreteForces(GeneralForceSubsystem&           forces, 
                   const SimbodyMatterSubsystem&    matter);

    
    DiscreteForces() {}

    void clearAllForces(State& state) const {
        clearAllMobilityForces(state);
        clearAllBodyForces(state);
    }

    void clearAllMobilityForces(State& state) const;
    void clearAllBodyForces(State& state) const;

    void setOneMobilityForce(State& state, const MobilizedBody& mobod,
                             MobilizerUIndex whichU, Real force) const;

    void setOneBodyForce(State& state, const MobilizedBody& mobod,
                         const SpatialVec& spatialForceInG) const;

    void addForceToBodyPoint(State& state, const MobilizedBody& mobod, 
                             const Vec3& pointInB,
                             const Vec3& forceInG) const;

    void setAllMobilityForces(State& state, const Vector& f) const;

    void setAllBodyForces(State& state, 
                          const Vector_<SpatialVec>& bodyForcesInG) const;

    Real getOneMobilityForce(const State& state, const MobilizedBody& mobod,
                                MobilizerUIndex whichU) const;

    SpatialVec getOneBodyForce(const State& state, 
                               const MobilizedBody& mobod) const;

    const Vector& getAllMobilityForces(const State& state) const;
    const Vector_<SpatialVec>& getAllBodyForces(const State& state) const;

    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DiscreteForces, 
                                             DiscreteForcesImpl, Force);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_