1#ifndef SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
2#define SimTK_SIMBODY_GENERAL_FORCE_ELEMENTS_H_
35class SimbodyMatterSubsystem;
117 int getNForces()
const {
return getNumForces();}
119 class GeneralForceSubsystemRep& updRep();
120 const GeneralForceSubsystemRep& getRep()
const;
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition SimTKcommon/include/SimTKcommon/internal/common.h:593
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition Simbody/include/simbody/internal/common.h:68
This type represents the index of a Force element within its subsystem.
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete.
Definition ForceSubsystem.h:36
This is the base class from which all Force element handle classes derive.
Definition Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition GeneralForceSubsystem.h:47
void setNumberOfThreads(unsigned numThreads)
Set the number of threads that the GeneralForceSubsystem can use to calculate computationally expensi...
int getNumberOfThreads() const
Returns the number of threads that the GeneralForceSubsystem can use to calculate computationally exp...
int getNumForces() const
Get the number of force elements which have been added to this Subsystem.
GeneralForceSubsystem(MultibodySystem &)
const MultibodySystem & getMultibodySystem() const
Every Subsystem is owned by a System; a GeneralForceSubsystem expects to be owned by a MultibodySyste...
const Force & getForce(ForceIndex index) const
Get a const reference to a force element by index.
bool isForceDisabled(const State &state, ForceIndex index) const
Find out whether a particular force element contained in this subsystem is currently disabled in the ...
void setForceIsDisabled(State &state, ForceIndex index, bool shouldBeDisabled) const
Disable or enable a particular force element contained in this subsystem.
ForceIndex adoptForce(Force &force)
Attach a new force to this subsystem.
Force & updForce(ForceIndex index)
Get a writable reference to a force element by index.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition MultibodySystem.h:48
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition State.h:280
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37