Force_MobilityDiscreteForce.h

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#ifndef SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_
#define SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_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::MobilityDiscreteForce : public Force {
public:
    MobilityDiscreteForce(GeneralForceSubsystem&    forces, 
                          const MobilizedBody&      mobod, 
                          MobilizerUIndex           whichU, 
                          Real                      defaultForce=0);


    MobilityDiscreteForce(GeneralForceSubsystem&    forces, 
                          const MobilizedBody&      mobod, 
                          Real                      defaultForce=0)    
    {   // Invoke the other constructor.
        new(this) MobilityDiscreteForce(forces, mobod, MobilizerUIndex(0),
                                        defaultForce);
    }
    
    MobilityDiscreteForce() {}

    MobilityDiscreteForce& setDefaultMobilityForce(Real defaultForce);

    Real getDefaultMobilityForce() const;

    void setMobilityForce(State& state, Real f) const;
    Real getMobilityForce(const State& state) const;

    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(MobilityDiscreteForce, 
                                             MobilityDiscreteForceImpl, Force);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_