1 #ifndef SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
2 #define SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
54 return MultibodySystem::downcast(
getSystem());
68 #endif // SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
The abstract parent of all Subsystems.
Definition: Subsystem.h:61
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Guts(const String &name, const String &version)
Definition: ForceSubsystemGuts.h:41
Every Simbody header and source file should include this header before any other Simbody header...
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:565
This is the handle class for the hidden State implementation.
Definition: State.h:264
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
The abstract parent of all Subsystem "Guts" implementation classes.
Definition: SubsystemGuts.h:42
virtual ~Guts()
Definition: ForceSubsystemGuts.h:48
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
virtual Real calcPotentialEnergy(const State &state) const =0
Get this subsystem's contribution to the potential energy.
SimTK_DOWNCAST(ForceSubsystem::Guts, Subsystem::Guts)
Public declaration of internals for ForceSubsystem extension.
Definition: ForceSubsystemGuts.h:39
const MultibodySystem & getMultibodySystem() const
Definition: ForceSubsystemGuts.h:53
const System & getSystem() const