Force::MobilityLinearStop::MobilityLinearStop
(GeneralForceSubsystem& forces,
const MobilizedBody& mobod,
MobilizerQIndex whichQ,
Real defaultStiffness,
Real defaultDissipation,
Real defaultQLow,
Real defaultQHigh)
: Force(new MobilityLinearStopImpl(mobod,whichQ,
defaultStiffness, defaultDissipation,
defaultQLow, defaultQHigh))
{
SimTK_ERRCHK2_ALWAYS(defaultStiffness >= 0 && defaultDissipation >= 0,
"Force::MobilityLinearStop::MobilityLinearStop()",
"Stiffness and dissipation coefficient must be nonnegative "
"(defaultStiffness=%g, defaultDissipation=%g).",
defaultStiffness, defaultDissipation);
SimTK_ERRCHK2_ALWAYS(defaultQLow <= defaultQHigh,
"Force::MobilityLinearStop::MobilityLinearStop()",
"Lower bound can't be larger than upper bound "
"(defaultQLow=%g, defaultQHigh=%g).",
defaultQLow, defaultQHigh);
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::MobilityConstantForce::MobilityConstantForce
(GeneralForceSubsystem& forces,
const MobilizedBody& mobod,
MobilizerUIndex whichU,
Real defaultForce)
: Force(new MobilityConstantForceImpl(mobod, whichU, defaultForce)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::Gravity::Gravity
(GeneralForceSubsystem& forces,
const SimbodyMatterSubsystem& matter,
const Vec3& defGravity)
: Force(new GravityImpl(matter,defGravity,0))
{
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::Gravity::Gravity
(GeneralForceSubsystem& forces,
const SimbodyMatterSubsystem& matter,
Real defMagnitude)
: Force(new GravityImpl(matter,defMagnitude,0))
{
SimTK_ERRCHK1_ALWAYS(defMagnitude >= 0,
"Force::Gravity::Gravity(magnitude)",
"The gravity magnitude g must be nonnegative but was specified as %g.",
defMagnitude);
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::MobilityLinearDamper::
MobilityLinearDamper(GeneralForceSubsystem& forces,
const MobilizedBody& mobod,
MobilizerUIndex whichU,
Real defaultDamping)
: Force(new MobilityLinearDamperImpl(mobod, whichU, defaultDamping))
{
SimTK_ERRCHK1_ALWAYS(defaultDamping >= 0,
"Force::MobilityLinearDamper::MobilityLinearDamper()",
"Damping coefficient must be nonnegative "
"(defaultDamping=%g).", defaultDamping);
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::MobilityLinearSpring::
MobilityLinearSpring(GeneralForceSubsystem& forces,
const MobilizedBody& mobod,
MobilizerQIndex whichQ,
Real defaultStiffness,
Real defaultQZero)
: Force(new MobilityLinearSpringImpl(mobod, whichQ,
defaultStiffness, defaultQZero))
{
SimTK_ERRCHK1_ALWAYS(defaultStiffness >= 0,
"Force::MobilityLinearSpring::MobilityLinearSpring()",
"Stiffness coefficient must be nonnegative "
"(defaultStiffness=%g).", defaultStiffness);
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
CableSpring::CableSpring
(GeneralForceSubsystem& forces,
const CablePath& path,
Real defaultStiffness,
Real defaultSlackLength,
Real defaultDissipationCoef)
: Force(new CableSpring::Impl(path, defaultStiffness, defaultSlackLength,
defaultDissipationCoef))
{
SimTK_ERRCHK_ALWAYS(defaultStiffness >= 0,
"CableSpring constructor", "Spring constant must be nonnegative.");
SimTK_ERRCHK_ALWAYS(defaultSlackLength >= 0,
"CableSpring constructor", "Slack length must be nonnegative.");
SimTK_ERRCHK_ALWAYS(defaultDissipationCoef >= 0,
"CableSpring constructor", "Dissipation coefficient must be nonnegative.");
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::Gravity::Gravity
(GeneralForceSubsystem& forces,
const SimbodyMatterSubsystem& matter,
const UnitVec3& defDirection,
Real defMagnitude,
Real defZeroHeight)
: Force(new GravityImpl(matter,defDirection,defMagnitude,defZeroHeight))
{
SimTK_ERRCHK1_ALWAYS(defMagnitude >= 0,
"Force::Gravity::Gravity(downDirection,magnitude)",
"The gravity magnitude g must be nonnegative but was specified as %g.",
defMagnitude);
SimTK_ERRCHK_ALWAYS(defDirection.isFinite(),
"Force::Gravity::Gravity(downDirection,magnitude)",
"A non-finite 'down' direction was received; did you specify a zero-"
"length Vec3? The direction must be non-zero.");
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::DiscreteForces::DiscreteForces
(GeneralForceSubsystem& forces, const SimbodyMatterSubsystem& matter)
: Force(new DiscreteForcesImpl(matter)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::Custom::Custom(GeneralForceSubsystem& forces, Implementation* implementation) :
Force(new CustomImpl(implementation)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
ElasticFoundationForce::ElasticFoundationForce(GeneralForceSubsystem& forces, GeneralContactSubsystem& contacts, ContactSetIndex set) :
Force(new ElasticFoundationForceImpl(contacts, set)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::ConstantTorque::ConstantTorque(GeneralForceSubsystem& forces, const MobilizedBody& body, const Vec3& torque) :
Force(new ConstantTorqueImpl(body, torque)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::GlobalDamper::GlobalDamper(GeneralForceSubsystem& forces, const SimbodyMatterSubsystem& matter,
Real damping) : Force(new GlobalDamperImpl(matter, damping)) {
assert(damping >= 0);
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::ConstantForce::ConstantForce(GeneralForceSubsystem& forces, const MobilizedBody& body, const Vec3& station, const Vec3& force) :
Force(new ConstantForceImpl(body, station, force)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::TwoPointLinearSpring::TwoPointLinearSpring(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1,
const MobilizedBody& body2, const Vec3& station2, Real k, Real x0) : Force(new TwoPointLinearSpringImpl(
body1, station1, body2, station2, k, x0)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::UniformGravity::UniformGravity(GeneralForceSubsystem& forces, const SimbodyMatterSubsystem& matter,
const Vec3& g, Real zeroHeight) : Force(new UniformGravityImpl(matter, g, zeroHeight)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::TwoPointLinearDamper::TwoPointLinearDamper(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1,
const MobilizedBody& body2, const Vec3& station2, Real damping) : Force(new TwoPointLinearDamperImpl(
body1, station1, body2, station2, damping)) {
assert(damping >= 0);
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}
Force::TwoPointConstantForce::TwoPointConstantForce(GeneralForceSubsystem& forces, const MobilizedBody& body1, const Vec3& station1,
const MobilizedBody& body2, const Vec3& station2, Real force) : Force(new TwoPointConstantForceImpl(
body1, station1, body2, station2, force)) {
updImpl().setForceSubsystem(forces, forces.adoptForce(*this));
}