Class RigidBody2dDS

Defined in Program listing for file mechanics/src/collision/RigidBody2dDS.hpp

class RigidBody2dDS : public LagrangianDS, public std::enable_shared_from_this<RigidBody2dDS>

Public Functions


visitors hook

bool allowSelfCollide()

Return the value of the _allowSelfCollide flag.

virtual SP::SiconosVector base_position()

Make the base position of the contactors equal to the DS q vector.


a SP::SiconosVector

SP::SiconosContactorSet contactors() const

Access the contactor set associated with this body.


A SP::SiconosContactorSet

void setAllowSelfCollide(bool x)

Set the value of the _allowSelfCollide flag.

void setContactors(SP::SiconosContactorSet c)

Provide a set of contactors to the body.

  • c: A SP::SiconosContactorSet