Class HuntCrossley::HuntCrossleyParams

Class HuntCrossley::HuntCrossleyParams#

Nested Relationships#

This class is a nested type of Class HuntCrossley.

Class Documentation#

class HuntCrossleyParams#

Structure that holds the HuntCrossley contact force parameters.

Public Members

double kp = km::notReadyNaN#

Normal penetration stiffness coefficient.

double kc = km::notReadyNaN#

Normal penetration restitution/damping coefficient.

double n = km::notReadyNaN#

Exponent.

double mu = km::notReadyNaN#

Friction coefficient.

double linear_region_tol = km::notReadyNaN#

Tolerance at which friction is linearly interpolated between the real value and 0.

To avoid jittering for cases like rolling without friction, near zero, the friction force uses a linear interpolation between the full friction force and zero. This avoids rapid, large changes in the friction force as the velocity changes sign, and instead, smoothly, linearly interpolates between these large forces over a region of linear_region_tol * 2.

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