File mechanics/src/collision/Contact5DR.hpp¶
Go to the source code of this file
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class Contact5DR : public NewtonEuler5DR
Subclassed by Bullet5DR
Public Functions
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Contact5DR()¶
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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
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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).
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inline virtual void preDelete()¶
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ACCEPT_STD_VISITORS()¶
Private Functions
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ACCEPT_SERIALIZATION(Contact5DR)¶
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Contact5DR()¶