Class siconos::collision::RigidBody2dDS

This object is defined in the file mechanics/src/collision/RigidBody2dDS.hpp

../../../_images/classsiconos_1_1collision_1_1RigidBody2dDS__inherit__graph_org.svg
class RigidBody2dDS : public siconos::modeling::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 std::shared_ptr<const siconos::collision::SiconosContactorSet> contactors() const
Returns:

the contactor set associated with this body

inline void setContactors(std::shared_ptr<siconos::collision::SiconosContactorSet> c)

Provide a set of contactors to the body.

Parameters:

c – A std::shared_ptr<SiconosContactorSet>

inline virtual std::shared_ptr<siconos::algebra::SiconosVector> base_position()

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

Returns:

a std::shared_ptr<siconos::algebra::SiconosVector>

Protected Attributes

double scalarMass_ = {0.}

a scalar mass in the case of RigidBody2dDS

bool _allowSelfCollide = {true}

If false, bodies connected to this body by a joint will not collide.

See also NewtonEulerJointR::_allowSelfCollide