Public Member Functions |
| | UniformGravity (GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter, const Vec3 &g, Real zeroHeight=0) |
| | UniformGravity () |
| | Default constructor creates an empty handle.
|
| Vec3 | getGravity () const |
| void | setGravity (const Vec3 &g) |
| Real | getZeroHeight () const |
| void | setZeroHeight (Real height) |
| | SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (UniformGravity, UniformGravityImpl, Force) |
| void | disable (State &) const |
| | Disable this force element, effectively removing it from the System for computational purposes (it is still using its ForceIndex, however).
|
| void | enable (State &) const |
| | Enable this force element if it was previously disabled.
|
| bool | isDisabled (const State &) const |
| | Test whether this force element is currently disabled in the supplied State.
|
| void | setDisabledByDefault (bool shouldBeDisabled) |
| | Normally force elements are enabled when defined and can be disabled later.
|
| bool | isDisabledByDefault () const |
| | Test whether this force element is disabled by default in which case it must be explicitly enabled before it will take effect.
|
| void | calcForceContribution (const State &state, Vector_< SpatialVec > &bodyForces, Vector_< Vec3 > &particleForces, Vector &mobilityForces) const |
| | Calculate the force that would be applied by this force element if the given state were realized to Dynamics stage.
|
| Real | calcPotentialEnergyContribution (const State &state) const |
| | Calculate the potential energy contribution that is made by this force element at the given state.
|
| | Force () |
| | Default constructor for Force handle base class does nothing.
|
| | operator ForceIndex () const |
| | Implicit conversion to ForceIndex when needed.
|
| const GeneralForceSubsystem & | getForceSubsystem () const |
| | Get the GeneralForceSubsystem of which this Force is an element.
|
| ForceIndex | getForceIndex () const |
| | Get the index of this force element within its parent force subsystem.
|
 Public Member Functions inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > |
| bool | isEmptyHandle () const |
| | Returns true if this handle is empty, that is, does not refer to any implementation object.
|
| bool | isOwnerHandle () const |
| | Returns true if this handle is the owner of the implementation object to which it refers.
|
| bool | isSameHandle (const Force &other) const |
| | Determine whether the supplied handle is the same object as "this" PIMPLHandle.
|
| void | disown (Force &newOwner) |
| | Give up ownership of the implementation to an empty handle.
|
| PIMPLHandle & | referenceAssign (const Force &source) |
| | "Copy" assignment but with shallow (pointer) semantics.
|
| PIMPLHandle & | copyAssign (const Force &source) |
| | This is real copy assignment, with ordinary C++ object ("value") semantics.
|
| void | clearHandle () |
| | Make this an empty handle, deleting the implementation object if this handle is the owner of it.
|
| const ForceImpl & | getImpl () const |
| | Get a const reference to the implementation associated with this Handle.
|
| ForceImpl & | updImpl () |
| | Get a writable reference to the implementation associated with this Handle.
|
| int | getImplHandleCount () const |
| | Return the number of handles the implementation believes are referencing it.
|
A uniform gravitational force applied to every body in the system. See Force::Gravity for a more flexible option.
The UniformGravity force is specified by a vector in the Ground frame. You can optionally specify a height at which the gravitational potential energy is zero.
- See Also
- SimTK::Force::Gravity
1.8.1.2 
