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Program listing for file mechanics/src/collision/bullet/BulletR.hpp

Program listing for file mechanics/src/collision/bullet/BulletR.hpp#

 1#ifndef BulletR_hpp
 2#define BulletR_hpp
 3
 4#include "BulletSiconosFwd.hpp"
 5#include "ContactR.hpp"
 6
 7class BulletR : public ContactR {
 8private:
 9
10  ACCEPT_SERIALIZATION(BulletR);
11
12public:
13  BulletR();
14
15  virtual ~BulletR() {}
16
17
18  SP::btCollisionObject btObject[2];
19  SP::btCollisionShape btShape[2];
20
21  virtual void updateContactPointsFromManifoldPoint(
22      const btPersistentManifold &manifold, const btManifoldPoint &point,
23      bool flip, double scaling, SP::NewtonEulerDS ds1, SP::NewtonEulerDS ds2);
24
25  void display() const override;
26
27  ACCEPT_STD_VISITORS();
28};
29
30#endif