Program listing for file mechanics/src/collision/Contact5DR.hpp

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#ifndef Contact5DR_hpp
#define Contact5DR_hpp

#include "MechanicsFwd.hpp"
#include "SiconosVector.hpp"
#include "NewtonEuler5DR.hpp"

class Contact5DR : public NewtonEuler5DR
{
private:

  ACCEPT_SERIALIZATION(Contact5DR);

public:
  Contact5DR();


  SP::BodyShapeRecord bodyShapeRecordA;
  SP::BodyShapeRecord bodyShapeRecordB;



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


  virtual void updateContactPoints(const SiconosVector& pos1,
                                   const SiconosVector& pos2,
                                   const SiconosVector& normal);

  virtual void preDelete() {}

  ACCEPT_STD_VISITORS();
};

#endif