File mechanics/src/collision/Contact5DR.hpp#
Go to the source code of this file
-
class Contact5DR : public NewtonEuler5DR
Subclassed by Bullet5DR
Public Functions
-
Contact5DR()#
-
void computeh(double time, const BlockVector &q0, SiconosVector &y) override
to compute the output y = h(t,q) of the Relation
- Parameters:
time – current time value
q – coordinates of the dynamical systems involved in the relation
y – the resulting vector
-
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).
-
inline virtual void preDelete()#
-
ACCEPT_STD_VISITORS()#
Private Functions
-
ACCEPT_SERIALIZATION(Contact5DR)#
-
Contact5DR()#