Struct NonlinearContactForce::NonlinearContactForceParams

Struct NonlinearContactForce::NonlinearContactForceParams#

Nested Relationships#

This struct is a nested type of Class NonlinearContactForce.

Struct Documentation#

struct NonlinearContactForceParams

Parameters used by the nonlinear contact-force model.

Public Members

double kp = km::notReadyNaN

Penalty stiffness in N/m^n.

double kc = km::notReadyNaN

Maximum normal damping coefficient in N s/m.

double n = km::notReadyNaN

Positive penetration exponent.

std::optional<double> mu_static = std::nullopt

Static coefficient, or nullopt to use mu_dynamic.

double mu_dynamic = km::notReadyNaN

Dynamic friction coefficient.

double damping_ramp_depth = km::notReadyNaN

Penetration at full damping in meters.

double stiction_transition_speed = km::notReadyNaN

Slip speed of the static-friction peak in m/s.

double friction_transition_speed = km::notReadyNaN

Slip speed at the end of the friction transition in m/s.

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