Simbody 3.7
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GeneralContactSubsystem.h
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1#ifndef SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_
2#define SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_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) 2008-12 Stanford University and the Authors. *
13 * Authors: Peter Eastman *
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 "SimTKmath.h"
29
30namespace SimTK {
31
32class MultibodySystem;
33class MobilizedBody;
34class ContactGeometry;
35
58public:
65 ContactSetIndex createContactSet();
69 int getNumContactSets() const;
78 void addBody(ContactSetIndex index, const MobilizedBody& body, const ContactGeometry& geom, Transform transform);
82 int getNumBodies(ContactSetIndex set) const;
89 const MobilizedBody& getBody(ContactSetIndex set, ContactSurfaceIndex index) const;
96 const ContactGeometry& getBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index) const;
110 const Transform& getBodyTransform(ContactSetIndex set, ContactSurfaceIndex index) const;
117 Transform& updBodyTransform(ContactSetIndex set, ContactSurfaceIndex index);
124 const Array_<Contact>& getContacts(const State& state, ContactSetIndex set) const;
126private:
127 class GeneralContactSubsystemImpl& updImpl();
128 const GeneralContactSubsystemImpl& getImpl() const;
129};
130
131} // namespace SimTK
132
133#endif // SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_
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
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition Array.h:1520
A ContactGeometry object describes the shape of all or part of the boundary of a solid object,...
Definition ContactGeometry.h:110
This defines a unique index for all the contact surfaces being handled either by a ContactTrackerSubs...
This class performs collision detection for use in contact modeling.
Definition GeneralContactSubsystem.h:57
const MobilizedBody & getBody(ContactSetIndex set, ContactSurfaceIndex index) const
Get the MobilizedBody in whose reference frame a body is defined.
void addBody(ContactSetIndex index, const MobilizedBody &body, const ContactGeometry &geom, Transform transform)
Add a body to a contact set.
ContactGeometry & updBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index)
Get a mutable reference to the ContactGeometry which defines the shape of a body.
int getNumBodies(ContactSetIndex set) const
Get the number of bodies in a contact set.
const Transform & getBodyTransform(ContactSetIndex set, ContactSurfaceIndex index) const
Get the location and orientation of a body.
Transform & updBodyTransform(ContactSetIndex set, ContactSurfaceIndex index)
Get a mutable reference to the location and orientation of a body.
int getNumContactSets() const
Get the total number of contact sets that have been created.
const ContactGeometry & getBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index) const
Get the ContactGeometry which defines the shape of a body.
const Array_< Contact > & getContacts(const State &state, ContactSetIndex set) const
Get a list of all contacts between bodies in a contact set.
GeneralContactSubsystem(MultibodySystem &)
SimTK_PIMPL_DOWNCAST(GeneralContactSubsystem, Subsystem)
ContactSetIndex createContactSet()
Create a new contact set.
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
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
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition Subsystem.h:55
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37