File mechanics/src/collision/Contact5DR.hpp#

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class Contact5DR : public NewtonEuler5DR

Subclassed by Bullet5DR

Public Functions

void computeh(double time, const BlockVector &q0, SiconosVector &y) override

to compute the output y = h(t,q) of the Relation

  • 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.

  • 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()#

Public Members

SP::BodyShapeRecord bodyShapeRecordA#
SP::BodyShapeRecord bodyShapeRecordB#

Private Functions