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

class siconos.mechanics.collision.base.RigidBodyDS(*args)[source]

Bases: siconos.kernel.NewtonEulerDS

Constructors

RigidBodyDS(array_like (np.float64, 1D) position, array_like (np.float64, 1D) velocity, double mass, array_like (np.float64, 2D) inertia=array_like (np.float64, 2D)())
allowSelfCollide() → bool[source]

Return the value of the _allowSelfCollide flag.

base_position() -> array_like (np.float64, 1D)[source]

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

Returns

a SP::SiconosVector

contactors() → SiconosContactorSet[source]

Access the contactor set associated with this body.

Returns

A SP::SiconosContactorSet

setAllowSelfCollide(bool x) → None[source]

Set the value of the _allowSelfCollide flag.

setContactors(SiconosContactorSet c) → None[source]

Provide a set of contactors to the body.

Parameters

c – A SP::SiconosContactorSet

setUseContactorInertia(bool use) → None[source]
useContactorInertia() → bool[source]