simbody/Force__Custom_8h_source.html

00001 #ifndef SimTK_SIMBODY_FORCE_CUSTOM_H_
00002 #define SimTK_SIMBODY_FORCE_CUSTOM_H_
00003
00004 /* -------------------------------------------------------------------------- *
00005  *                               Simbody(tm)                                  *
00006  * -------------------------------------------------------------------------- *
00007  * This is part of the SimTK biosimulation toolkit originating from           *
00008  * Simbios, the NIH National Center for Physics-Based Simulation of           *
00009  * Biological Structures at Stanford, funded under the NIH Roadmap for        *
00010  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
00011  *                                                                            *
00012  * Portions copyright (c) 2008-13 Stanford University and the Authors.        *
00013  * Authors: Peter Eastman, Michael Sherman                                    *
00014  * Contributors:                                                              *
00015  *                                                                            *
00016  * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
00017  * not use this file except in compliance with the License. You may obtain a  *
00018  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
00019  *                                                                            *
00020  * Unless required by applicable law or agreed to in writing, software        *
00021  * distributed under the License is distributed on an "AS IS" BASIS,          *
00022  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
00023  * See the License for the specific language governing permissions and        *
00024  * limitations under the License.                                             *
00025  * -------------------------------------------------------------------------- */
00026
00027 #include "SimTKcommon.h"
00028 #include "simbody/internal/Force.h"
00029
00036 namespace SimTK {
00037
00193 class SimTK_SIMBODY_EXPORT Force::Custom : public Force {
00194 public:
00195     class Implementation;
00204     Custom(GeneralForceSubsystem& forces, Implementation* implementation);
00205
00207     Custom() {}
00208  // don't let Doxygen see this
00210     SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Custom, CustomImpl, Force);
00212 protected:
00213     const Implementation& getImplementation() const;
00214     Implementation& updImplementation();
00215 };
00216
00221 class SimTK_SIMBODY_EXPORT Force::Custom::Implementation {
00222 public:
00223     virtual ~Implementation() { }
00235     virtual void calcForce(const State& state, Vector_<SpatialVec>& bodyForces, Vector_<Vec3>& particleForces, Vector& mobilityForces) const = 0;
00241     virtual Real calcPotentialEnergy(const State& state) const = 0;
00247     virtual bool dependsOnlyOnPositions() const {
00248         return false;
00249     }
00253     virtual void realizeTopology(State& state) const {}
00254     virtual void realizeModel(State& state) const {}
00255     virtual void realizeInstance(const State& state) const {}
00256     virtual void realizeTime(const State& state) const {}
00257     virtual void realizePosition(const State& state) const {}
00258     virtual void realizeVelocity(const State& state) const {}
00259     virtual void realizeDynamics(const State& state) const {}
00260     virtual void realizeAcceleration(const State& state) const {}
00261     virtual void realizeReport(const State& state) const {}
00263
00266     virtual void calcDecorativeGeometryAndAppend
00267        (const State& state, Stage stage,
00268         Array_<DecorativeGeometry>& geometry) const {}
00269
00270 };
00271
00272 } // namespace SimTK
00273
00274 #endif // SimTK_SIMBODY_FORCE_CUSTOM_H_