siconos.mechanics.collision.base

siconos.mechanics.collision.base#

Module documentation

class siconos.mechanics.collision.base.nullDeleter(*args, **kwargs)[source]#

Bases: object

Using a shared_ptr to hold a pointer to a statically allocated

object use create<type>SPtr(<type> &x) cf http://www.boost.org/doc/

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

Bases: object

Class to hold the shape assigned to a body, and to associate each shape with an offset and collision group.

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

Bases: NewtonEuler3DR

constructor

computeh(time, q0, y)[source]#

to compute the output y = h(t,q,z) of the Relation

Parameters:

  • time (float) – current time value

  • q – coordinates of the dynamical systems involved in the relation

  • y (SiconosVector) – the resulting vector

updateContactPoints(pos1, pos2, normal)[source]#

Update this contact point information.

Parameters:

  • pos1 (SiconosVector) – Position on ds1 in ds1 frame.

  • pos2 (SiconosVector) – Position on ds2 in ds2 frame (or world frame if ds2=null).

  • normal (SiconosVector) – Normal in ds2 frame (or world frame if ds2=null).

display()[source]#

main relation members display

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

Bases: NewtonEulerDS

Overload 1: Default constructor


Overload 2: constructor from a minimum set of data

Parameters:

  • position (SiconosVector) – initial coordinates of this DynamicalSystem

  • twist (SiconosVector) – initial twist of this DynamicalSystem

  • mass (float) – the mass

  • inertia (SiconosMatrix) – the inertia matrix

allowSelfCollide()[source]#

Return the value of the _allowSelfCollide flag.

setAllowSelfCollide(x)[source]#

Set the value of the _allowSelfCollide flag.

contactors()[source]#

Access the contactor set associated with this body.

Return type:

SiconosContactorSet

Returns:

A SP::SiconosContactorSet

setContactors(c)[source]#

Provide a set of contactors to the body.

Parameters:

c (SiconosContactorSet) – A SP::SiconosContactorSet

base_position()[source]#

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

Return type:

SiconosVector

Returns:

a SP::SiconosVector

class siconos.mechanics.collision.base.Contact5DR[source]#

Bases: NewtonEuler5DR

constructor

computeh(time, q0, y)[source]#

to compute the output y = h(t,q) of the Relation

Parameters:

  • time (float) – current time value

  • q – coordinates of the dynamical systems involved in the relation

  • y (SiconosVector) – the resulting vector

updateContactPoints(pos1, pos2, normal)[source]#

Update this contact point information.

Parameters:

  • pos1 (SiconosVector) – Position on ds1 in ds1 frame.

  • pos2 (SiconosVector) – Position on ds2 in ds2 frame (or world frame if ds2=null).

  • normal (SiconosVector) – Normal in ds2 frame (or world frame if ds2=null).

class siconos.mechanics.collision.base.RigidBody2dDS(*args)[source]#

Bases: LagrangianLinearTIDS

Overload 1: default constructor


Overload 2: constructor from initial state and all matrix operators.

Parameters:

  • q0 (SiconosVector) – initial coordinates

  • v0 (SiconosVector) – initial velocity

  • M (SiconosMatrix) – mass matrix

  • K (SiconosMatrix) – stiffness matrix

  • C (SiconosMatrix) – damping matrix


Overload 3: constructor from initial state and mass matrix only. Leads to \(M\dot v = F_{ext}(t,z) + p\) .

Parameters:

  • q0 (SiconosVector) – initial coordinates

  • v0 (SiconosVector) – initial velocity

  • M (SiconosMatrix) – mass matrix

allowSelfCollide()[source]#

Return the value of the _allowSelfCollide flag.

setAllowSelfCollide(x)[source]#

Set the value of the _allowSelfCollide flag.

contactors()[source]#
Return type:

SiconosContactorSet

Returns:

the contactor set associated with this body

setContactors(c)[source]#

Provide a set of contactors to the body.

Parameters:

c (SiconosContactorSet) – A SP::SiconosContactorSet

base_position()[source]#

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

Return type:

SiconosVector

Returns:

a SP::SiconosVector

class siconos.mechanics.collision.base.SiconosCollisionQueryResult[source]#

Bases: object

Holds one result of a line segment intersection query against the graph of body contactors maintained by a SiconosCollisionManager

property distance#

Distance from reference point (start of line segment or query center)

property body#

Body owning the contactor that was intersected, may be null for static contactors.

property shape#

The shape that was intersected.

property contactor#

The contactor that was intersected.

property point#

Closest point on contactor in world coordinates.

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