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

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#ifndef ContactR_hpp
#define ContactR_hpp

#include "MechanicsFwd.hpp"
#include "SiconosVector.hpp"
#include "NewtonEuler3DR.hpp"
#include "StaticBody.hpp"


class ContactR : public NewtonEuler3DR
{
private:
  ACCEPT_SERIALIZATION(ContactR);

public:
  ContactR();


  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() {}

  void display() const override;


  ACCEPT_STD_VISITORS();
};

#endif