GeneralForceSubsystem.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
#define SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_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) 2006-12 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 "simbody/internal/common.h"
#include "simbody/internal/ForceSubsystem.h"

#include <cassert>

namespace SimTK {

class MultibodySystem;
class SimbodyMatterSubsystem;
class Force;

class SimTK_SIMBODY_EXPORT GeneralForceSubsystem : public ForceSubsystem {
public:
    GeneralForceSubsystem();
    explicit GeneralForceSubsystem(MultibodySystem&);

    ForceIndex adoptForce(Force& force);
    
    int getNumForces() const;

    const Force& getForce(ForceIndex index) const;

    Force& updForce(ForceIndex index);

    bool isForceDisabled(const State& state, ForceIndex index) const;
    
    void setForceIsDisabled
       (State& state, ForceIndex index, bool shouldBeDisabled) const;

    const MultibodySystem& getMultibodySystem() const;
   // don't show in Doxygen docs
    SimTK_PIMPL_DOWNCAST(GeneralForceSubsystem, ForceSubsystem);
private:
    // OBSOLETE; use getNumForces() instead.
    int getNForces() const {return getNumForces();}

    class GeneralForceSubsystemRep& updRep();
    const GeneralForceSubsystemRep& getRep() const;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_