Class RigidBodyDS#

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

class RigidBodyDS : public NewtonEulerDS, public std::enable_shared_from_this<RigidBodyDS>#

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#

Access the contactor set associated with this body.

Returns:

A SP::SiconosContactorSet

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