File mechanics/src/collision/ContactR.hpp

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class ContactR : public NewtonEuler3DR

Subclassed by BulletR

Public Functions

ContactR()
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

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()
void display() const override
ACCEPT_STD_VISITORS()

Public Members

SP::BodyShapeRecord bodyShapeRecordA
SP::BodyShapeRecord bodyShapeRecordB

Private Functions

ACCEPT_SERIALIZATION(ContactR)