File mechanics/src/collision/ContactR.hpp#
Go to the source code of this file
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class ContactR : public NewtonEuler3DR
Subclassed by BulletR
Public Functions
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ContactR()#
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void computeh(double time, const BlockVector &q0, SiconosVector &y) override
to compute the output y = h(t,q,z) 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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void display() const override#
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ACCEPT_STD_VISITORS()#
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ContactR()#