siconos.mechanics.collision.base.ContactR (Python class)

class siconos.mechanics.collision.base.ContactR[source]

Bases: siconos.kernel.NewtonEulerFrom3DLocalFrameR

Constructors

ContactR()
Attributes:
  • base (array_like (np.float64, 1D))
  • contactor (SiconosContactor)
  • ds (BodyDS)
  • shape (SiconosShape)
computeh(double time, BlockVector q0, array_like (np.float64, 1D) y) → None[source]
preDelete() → None[source]
updateContactPoints(array_like (np.float64, 1D) pos1, array_like (np.float64, 1D) pos2, array_like (np.float64, 1D) normal) → None[source]

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).