Class RigidBody2dDS

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

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

Public Functions

inline bool allowSelfCollide()

Return the value of the _allowSelfCollide flag.

inline void setAllowSelfCollide(bool x)

Set the value of the _allowSelfCollide flag.

inline SP::SiconosContactorSet contactors() const

Returns:

the contactor set associated with this body

inline void setContactors(SP::SiconosContactorSet c)

Provide a set of contactors to the body.

Parameters:

c – A SP::SiconosContactorSet

inline virtual SP::SiconosVector base_position()

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

Returns:

a SP::SiconosVector