Simbody 3.7
DecorationSubsystem.h
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1#ifndef SimTK_SIMBODY_DECORATION_SUBSYSTEM_H_
2#define SimTK_SIMBODY_DECORATION_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) 2007-12 Stanford University and the Authors. *
13 * Authors: 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
34#include "SimTKcommon.h"
36
37#include <cassert>
38
39namespace SimTK {
40
41class DecorationGenerator;
42class DecorativeGeometry;
43class DecorativeLine;
44class MultibodySystem;
45
55public:
58
60 const Transform& X_GD,
61 const DecorativeGeometry&);
62
63 void addRubberBandLine(MobilizedBodyIndex b1, const Vec3& station1,
64 MobilizedBodyIndex b2, const Vec3& station2,
65 const DecorativeLine&);
75
77 class DecorationSubsystemGuts& updGuts();
78 const DecorationSubsystemGuts& getGuts() const;
79};
80
81} // namespace SimTK
82
83#endif // SimTK_SIMBODY_DECORATION_SUBSYSTEM_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
A DecorationGenerator is used to define geometry that may change over the course of a simulation.
Definition: DecorationGenerator.h:45
This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54
void addBodyFixedDecoration(MobilizedBodyIndex bodyNum, const Transform &X_GD, const DecorativeGeometry &)
void addDecorationGenerator(Stage stage, DecorationGenerator *generator)
Add a DecorationGenerator that will be invoked to add dynamically generated geometry to the scene.
void addRubberBandLine(MobilizedBodyIndex b1, const Vec3 &station1, MobilizedBodyIndex b2, const Vec3 &station2, const DecorativeLine &)
SimTK_PIMPL_DOWNCAST(DecorationSubsystem, Subsystem)
const DecorationSubsystemGuts & getGuts() const
DecorationSubsystem(MultibodySystem &)
class DecorationSubsystemGuts & updGuts()
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
A line between two points.
Definition: DecorativeGeometry.h:306
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
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