File mechanics/src/collision/RigidBodyDS.hpp

Go to the source code of this file

Definition of an abstract 3D rigid body above NewtonEulerDS.

class RigidBodyDS : public NewtonEulerDS, public std::enable_shared_from_this<RigidBodyDS>

Public Functions

RigidBodyDS(SP::SiconosVector position, SP::SiconosVector velocity, double mass, SP::SimpleMatrix inertia = SP::SimpleMatrix())

virtual ~RigidBodyDS()

inline void setUseContactorInertia(bool use)

inline bool useContactorInertia()

inline bool allowSelfCollide()

Return the value of the _allowSelfCollide flag.

inline void setAllowSelfCollide(bool x)

Set the value of the _allowSelfCollide flag.

inline SP::SiconosContactorSet contactors() const

Access the contactor set associated with this body.

Returns:

A SP::SiconosContactorSet

inline void setContactors(SP::SiconosContactorSet c)

Provide a set of contactors to the body.

Parameters:

c – A SP::SiconosContactorSet

inline virtual SP::SiconosVector base_position()

Make the base position of the contactors equal to the DS q vector.

Returns:

a SP::SiconosVector

ACCEPT_BASE_VISITORS(NewtonEulerDS)

Protected Functions

ACCEPT_SERIALIZATION(RigidBodyDS)

inline RigidBodyDS()

Protected Attributes

SP::SiconosContactorSet _contactors

bool _useContactorInertia

bool _allowSelfCollide = true

If false, bodies connected to this body by a joint will not collide.

See also NewtonEulerJointR::_allowSelfCollide