text: /* Siconos is a program dedicated to modeling, simulation and control
   * of non smooth dynamical systems.
   *
   * Copyright 2018 INRIA.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
  */
  
  #ifndef BulletFrom1DLocalFrameR_hpp
  #define BulletFrom1DLocalFrameR_hpp
  
  #include "BulletSiconosFwd.hpp"
  #include <NewtonEuler1DR.hpp>
  
  class BulletFrom1DLocalFrameR : public NewtonEuler1DR
  {
  private:
    /** serialization hooks
    */
    ACCEPT_SERIALIZATION(BulletFrom1DLocalFrameR);
  
    SP::btManifoldPoint _contactPoints;
  
  public:
    BulletFrom1DLocalFrameR(SP::btManifoldPoint);
  
    SP::btManifoldPoint contactPoint() const
    {
      return _contactPoints;
    };
  
    virtual void computeh(double time, BlockVector&, SiconosVector&);
  
    ACCEPT_STD_VISITORS();
  };
  #endif
  