Class ContactR

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

class ContactR : public NewtonEulerFrom3DLocalFrameR

Public Functions

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).