Class HuntCrossleyContactForce::HuntCrossleyContactForceParams

Class HuntCrossleyContactForce::HuntCrossleyContactForceParams#

Nested Relationships#

This class is a nested type of Class HuntCrossleyContactForce.

Class Documentation#

class HuntCrossleyContactForceParams#

Structure that holds the HuntCrossleyContactForce contact force parameters.

Public Members

double kp = km::notReadyNaN#

Finite, nonnegative normal penetration stiffness coefficient in N/m^n.

double dissipation = km::notReadyNaN#

Finite, nonnegative Hunt-Crossley velocity coefficient in s/m.

double n = km::notReadyNaN#

Finite, positive penetration exponent.

double mu = km::notReadyNaN#

Finite, nonnegative friction coefficient.

double linear_region_tol = km::notReadyNaN#

Finite, positive slip-speed tolerance in m/s below which friction is linearly interpolated between the full value and zero.

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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