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/* -------------------------------------------------------------------------- *
* MMB (MacroMoleculeBuilder) *
* -------------------------------------------------------------------------- *
* *
* Copyright (c) 2011-12 by the Author. *
* Author: Samuel Flores *
* *
* See RNABuilder.cpp for the copyright and usage agreement. *
* -------------------------------------------------------------------------- */
#ifndef _TetherForce_H_
#define _TetherForce_H_
//#include "SimTKsimbody_aux.h"
#include <iostream>
#include <ostream>
#include <stdlib.h>// for MAX_PATH
#include "SimTKmolmodel.h"
#include "ParameterReader.h"
using namespace SimTK;
using namespace std;
class TetherForce : public Force::Custom::Implementation {
public:
TetherForce (
SimbodyMatterSubsystem & matter,
GeneralForceSubsystem & forces,
const MobilizedBodyIndex body1Index,
const Vec3 & station1,
const MobilizedBodyIndex body2Index,
const Vec3 & station2,
Real k,
Real x0
);
void calcForce(const State& state, Vector_<SpatialVec>& bodyForces,
Vector_<Vec3>& particleForces, Vector& mobilityForces) const ;
Real calcPotentialEnergy(const State& state) const;
bool dependsOnlyOnPositions() const;
private:
SimbodyMatterSubsystem & matter;
GeneralForceSubsystem & forces;
const MobilizedBodyIndex body1Index;
const Vec3 station1;
const MobilizedBodyIndex body2Index;
const Vec3 station2;
Real k;
Real x0;
};
#endif
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