1#ifndef SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
2#define SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
54 return MultibodySystem::downcast(
getSystem());
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.
Public declaration of internals for ForceSubsystem extension.
Definition ForceSubsystemGuts.h:39
const MultibodySystem & getMultibodySystem() const
Definition ForceSubsystemGuts.h:53
Guts(const String &name, const String &version)
Definition ForceSubsystemGuts.h:41
virtual ~Guts()
Destructor is virtual to permit cleanup of derived classes.
Definition ForceSubsystemGuts.h:48
virtual Real calcPotentialEnergy(const State &state) const =0
Get this subsystem's contribution to the potential energy.
SimTK_DOWNCAST(ForceSubsystem::Guts, Subsystem::Guts)
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
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition String.h:62
The abstract parent of all Subsystem implementation classes.
Definition SubsystemGuts.h:47
const System & getSystem() const
Definition SubsystemGuts.h:302
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
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