int Body::addContactSurface(const Transform& X_BS,
const ContactSurface& shape) {
BodyRep& rep = updRep();
const int nxt = (int)rep.surfaces.size();
rep.surfaces.push_back(std::make_pair(X_BS,shape));
return nxt;
}
int HuntCrossleyContact::addSphere(MobilizedBodyIndex body, const Vec3& center,
const Real& radius,
const Real& stiffness,
const Real& dissipation)
{
return updRep().addSphere(body,center,radius,stiffness,dissipation);
}
int HuntCrossleyContact::addHalfSpace(MobilizedBodyIndex body, const UnitVec3& normal,
const Real& height,
const Real& stiffness,
const Real& dissipation)
{
return updRep().addHalfSpace(body,normal,height,stiffness,dissipation);
}
void Integrator::resetAllStatistics() {
updRep().resetIntegratorStatistics();
updRep().resetMethodStatistics();
}
Force& GeneralForceSubsystem::updForce(ForceIndex index)
{ return updRep().updForce(index); }
Transform& Body::updContactSurfaceTransform(int i)
{ return updRep().surfaces[i].first; }
Body& Body::setDefaultRigidBodyMassProperties(const MassProperties& m) {
updRep().setDefaultRigidBodyMassProperties(m);
return *this;
}
DecorativeGeometry& DecorativeGeometry::setResolution(Real r) {updRep().setResolution(r);return *this;}
DecorativeGeometry& DecorativeGeometry::setLineThickness(Real t) {updRep().setLineThickness(t);return *this;}
DecorativeGeometry& DecorativeGeometry::setOpacity(Real o) {updRep().setOpacity(o);return *this;}
DecorativeGeometry& DecorativeGeometry::setColor(const Vec3& rgb) {updRep().setColor(rgb);return *this;}
Integrator::SuccessfulStepStatus
Integrator::stepBy(Real interval, Real advanceIntervalLimit) {
const Real t = getRep().getState().getTime();
return updRep().stepTo(t + interval, t + advanceIntervalLimit);
}
Integrator::SuccessfulStepStatus
Integrator::stepTo(Real reportTime, Real advanceLimit) {
return updRep().stepTo(reportTime, advanceLimit);
}
void Integrator::reinitialize(Stage g, bool shouldTerminate) {
updRep().reinitialize(g,shouldTerminate);
}
void Integrator::initialize(const State& initState) {
updRep().initialize(initState);
}
DecorativeGeometry& DecorativeGeometry::setUserRef(void* p) {updRep().setUserRef(p);return *this;}
DecorativeGeometry& DecorativeGeometry::setTransform(const Transform& X_BD) {updRep().setTransform(X_BD);return *this;}
DecorativeGeometry& DecorativeGeometry::setRepresentation(const DecorativeGeometry::Representation& r) {
updRep().setRepresentation(r);return *this;
}
DecorativeGeometry& DecorativeGeometry::setScaleFactors(const Vec3& s)
{ updRep().setScaleFactors(s); return *this; }
DecorativeGeometry& DecorativeGeometry::setFaceCamera(int shouldFace)
{ updRep().setFaceCamera(shouldFace);return *this; }
int Body::addDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
return updRep().addDecoration(X_BD, g);
}
Decorations::Decorations(const DecorativeGeometry& decoration) {
rep = new DecorationsRep();
rep->setMyHandle(*this);
updRep().addDecoration(decoration);
}
ContactSurface& Body::updContactSurface(int i)
{ return updRep().surfaces[i].second; }
Decorations& Decorations::
addDecoration(const DecorativeGeometry& decoration) {
updRep().addDecoration(decoration);
return *this;
}
ForceIndex GeneralForceSubsystem::adoptForce(Force& force)
{ return updRep().adoptForce(force); }
Decorations& Decorations::
addDecoration(const Transform& placement,
const DecorativeGeometry& decoration) {
updRep().addDecoration(placement, decoration);
return *this;
}
void GeneralForceSubsystem::setNumberOfThreads(unsigned numThreads)
{ updRep().setNumberOfThreads(numThreads); }
DecorativeGeometry& DecorativeGeometry::setBodyId(int b) {updRep().setBodyId(b);return *this;}
DecorativeGeometry& DecorativeGeometry::setIndexOnBody(int x) {updRep().setIndexOnBody(x);return *this;}
void Integrator::setProjectInterpolatedStates(bool shouldProject) {
updRep().userProjectInterpolatedStates = shouldProject ? 1 : 0;
}
