Class ContactR

Defined in Program listing for file mechanics/src/collision/ContactR.hpp

class ContactR : public NewtonEuler3DR

Subclassed by BulletR

Public Functions

void computeh(double time, const BlockVector &q0, SiconosVector &y) override

to compute the output y = h(t,q,z) of the Relation

Parameters:

• time – current time value

• q – coordinates of the dynamical systems involved in the relation

• y – the resulting vector

virtual void updateContactPoints(const SiconosVector &pos1, const SiconosVector &pos2, const SiconosVector &normal)

Update this contact point information.

Parameters:

• pos1 – Position on ds1 in ds1 frame.

• pos2 – Position on ds2 in ds2 frame (or world frame if ds2=null).

• normal – Normal in ds2 frame (or world frame if ds2=null).