Simbody 3.7
Force.h
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1#ifndef SimTK_SIMBODY_FORCE_H_
2#define SimTK_SIMBODY_FORCE_H_
3
4/* -------------------------------------------------------------------------- *
5 * Simbody(tm) *
6 * -------------------------------------------------------------------------- *
7 * This is part of the SimTK biosimulation toolkit originating from *
8 * Simbios, the NIH National Center for Physics-Based Simulation of *
9 * Biological Structures at Stanford, funded under the NIH Roadmap for *
10 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11 * *
12 * Portions copyright (c) 2008-13 Stanford University and the Authors. *
13 * Authors: Peter Eastman, Michael Sherman *
14 * Contributors: *
15 * *
16 * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17 * not use this file except in compliance with the License. You may obtain a *
18 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19 * *
20 * Unless required by applicable law or agreed to in writing, software *
21 * distributed under the License is distributed on an "AS IS" BASIS, *
22 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23 * See the License for the specific language governing permissions and *
24 * limitations under the License. *
25 * -------------------------------------------------------------------------- */
26
27#include "SimTKcommon.h"
30
31namespace SimTK {
32
33class SimbodyMatterSubsystem;
34class GeneralForceSubsystem;
35class MobilizedBody;
36class Force;
37class ForceImpl;
38
39// We only want the template instantiation to occur once. This symbol is defined
40// in the SimTK core compilation unit that defines the Force class but should
41// not be defined any other time.
42#ifndef SimTK_SIMBODY_DEFINING_FORCE
43 extern template class PIMPLHandle<Force, ForceImpl, true>;
44#endif
45
51public:
62 void disable(State&) const;
66 void enable(State&) const;
70 bool isDisabled(const State&) const;
76 void setDisabledByDefault(bool shouldBeDisabled);
80 bool isDisabledByDefault() const;
128 void calcForceContribution(const State& state,
129 Vector_<SpatialVec>& bodyForces,
130 Vector_<Vec3>& particleForces,
131 Vector& mobilityForces) const;
152 Force() {}
156 operator ForceIndex() const {return getForceIndex();}
173 class MobilityLinearStop;
175 class DiscreteForces;
176 class LinearBushing;
177 class ConstantForce;
178 class ConstantTorque;
179 class GlobalDamper;
180 class Thermostat;
181 class UniformGravity;
182 class Gravity;
183 class Custom;
184
185 class TwoPointLinearSpringImpl;
186 class TwoPointLinearDamperImpl;
187 class TwoPointConstantForceImpl;
188 class MobilityLinearSpringImpl;
189 class MobilityLinearDamperImpl;
190 class MobilityConstantForceImpl;
191 class MobilityLinearStopImpl;
192 class MobilityDiscreteForceImpl;
193 class DiscreteForcesImpl;
194 class LinearBushingImpl;
195 class ConstantForceImpl;
196 class ConstantTorqueImpl;
197 class GlobalDamperImpl;
198 class ThermostatImpl;
199 class UniformGravityImpl;
200 class GravityImpl;
201 class CustomImpl;
202
203protected:
206 explicit Force(ForceImpl* r) : HandleBase(r) { }
207};
208
209
222public:
234 TwoPointLinearSpring(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1, const MobilizedBody& body2, const Vec3& station2, Real k, Real x0);
235
238
240};
241
255public:
266 TwoPointLinearDamper(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1, const MobilizedBody& body2, const Vec3& station2, Real damping);
267
270
272};
273
286public:
297 TwoPointConstantForce(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1, const MobilizedBody& body2, const Vec3& station2, Real force);
298
301
303};
304
305
314public:
315 ConstantForce(GeneralForceSubsystem& forces, const MobilizedBody& body, const Vec3& station, const Vec3& force);
316
319
321};
322
331public:
332 ConstantTorque(GeneralForceSubsystem& forces, const MobilizedBody& body, const Vec3& torque);
333
336
338};
339
355public:
357
360
362};
363
375public:
377 const SimbodyMatterSubsystem& matter,
378 const Vec3& g, Real zeroHeight=0);
379
382
384 void setGravity(const Vec3& g);
386 void setZeroHeight(Real height);
388};
389
390} // namespace SimTK
391
392#endif // SimTK_SIMBODY_FORCE_H_
Includes internal headers providing declarations for the basic SimTK Core classes,...
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.
A constant force applied to a body station.
Definition: Force.h:313
ConstantForce()
Default constructor creates an empty handle.
Definition: Force.h:318
ConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &body, const Vec3 &station, const Vec3 &force)
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(ConstantForce, ConstantForceImpl, Force)
A constant torque to a body.
Definition: Force.h:330
ConstantTorque()
Default constructor creates an empty handle.
Definition: Force.h:335
ConstantTorque(GeneralForceSubsystem &forces, const MobilizedBody &body, const Vec3 &torque)
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(ConstantTorque, ConstantTorqueImpl, Force)
This class is used to define new force elements.
Definition: Force_Custom.h:193
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition: Force_DiscreteForces.h:41
A general energy "drain" on the system.
Definition: Force.h:354
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(GlobalDamper, GlobalDamperImpl, Force)
GlobalDamper()
Default constructor creates an empty handle.
Definition: Force.h:359
GlobalDamper(GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter, Real damping)
This force element represents a uniform gravitational field applied to a set of bodies.
Definition: Force_Gravity.h:70
This force element represents a bushing acting to connect a frame F fixed on one body (B1) to a frame...
Definition: Force_LinearBushing.h:101
A constant generalized force f (a scalar) applied to a mobility.
Definition: Force_MobilityConstantForce.h:45
A discrete mobility (generalized) force f applied to a particular mobility that is specified at const...
Definition: Force_MobilityDiscreteForce.h:52
A linear damper that acts along or around a mobility coordinate to apply a generalized force there.
Definition: Force_MobilityLinearDamper.h:46
A linear spring that acts along or around a mobility coordinate to apply a generalized force there.
Definition: Force_MobilityLinearSpring.h:49
Model a compliant stop element that acts to keep a mobilizer coordinate q within specified bounds.
Definition: Force_MobilityLinearStop.h:65
This is a feedback-controlled force that uses Nose'-Hoover chains to maintain a particular temperatur...
Definition: Force_Thermostat.h:131
A constant force f (a signed scalar) which acts along the line between two points,...
Definition: Force.h:285
TwoPointConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real force)
Create a TwoPointConstantForce.
TwoPointConstantForce()
Default constructor creates an empty handle.
Definition: Force.h:300
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(TwoPointConstantForce, TwoPointConstantForceImpl, Force)
A force which resists changes in the distance between two points, acting along the line between those...
Definition: Force.h:254
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(TwoPointLinearDamper, TwoPointLinearDamperImpl, Force)
TwoPointLinearDamper()
Default constructor creates an empty handle.
Definition: Force.h:269
TwoPointLinearDamper(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real damping)
Create a TwoPointLinearDamper.
A linear spring between two points, specified as a station on each of two bodies.
Definition: Force.h:221
TwoPointLinearSpring(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real k, Real x0)
Create a TwoPointLinearSpring.
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(TwoPointLinearSpring, TwoPointLinearSpringImpl, Force)
TwoPointLinearSpring()
Default constructor creates an empty handle.
Definition: Force.h:237
A uniform gravitational force applied to every body in the system. See Force::Gravity for a more flex...
Definition: Force.h:374
UniformGravity(GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter, const Vec3 &g, Real zeroHeight=0)
void setGravity(const Vec3 &g)
UniformGravity()
Default constructor creates an empty handle.
Definition: Force.h:381
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(UniformGravity, UniformGravityImpl, Force)
void setZeroHeight(Real height)
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
void disable(State &) const
Disable this force element, effectively removing it from the System for computational purposes (it is...
bool isDisabledByDefault() const
Test whether this force element is disabled by default in which case it must be explicitly enabled be...
const GeneralForceSubsystem & getForceSubsystem() const
Get the GeneralForceSubsystem of which this Force is an element.
Force()
Default constructor for Force handle base class does nothing.
Definition: Force.h:152
ForceIndex getForceIndex() const
Get the index of this force element within its parent force subsystem.
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 D...
void enable(State &) const
Enable this force element if it was previously disabled.
void setDisabledByDefault(bool shouldBeDisabled)
Normally force elements are enabled when defined and can be disabled later.
bool isDisabled(const State &) const
Test whether this force element is currently disabled in the supplied State.
Real calcPotentialEnergyContribution(const State &state) const
Calculate the potential energy contribution that is made by this force element at the given state.
Force(ForceImpl *r)
Use this in a derived Force handle class constructor to supply the concrete implementation object to ...
Definition: Force.h:206
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the vector class intended to appear in user code for large, variable size column vectors.
Definition: Vector_.h:50
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606