Closed amcastro-tri closed 1 year ago
@amcastro-tri Could you link relevant PRs to this Issue, please? I'd like to understand what has been done for it.
CC: @rpoyner-tri
Is TAMSI code going to stay where it is today? Or it will get refactored too, or it will be removed?
Could you link relevant PRs to this Issue
Sure thing. Here it goes: The discrete update manger concept was introduced in #15033. Improvements in #15135, #15264, #15376.
Compliant contact manager introduced in #16047. Follow up PRs: #16119.
Implementation for deformable FEM models in #15088. Follow up PRs: #15123, #15128, #15262, #15661, #16311.
Is TAMSI code going to stay where it is today
Short term answer (1 year): yes. Long term answer (> 1 year): no.
Thank you! Now I see it's relevant to Deformables too.
right, it is relevant to everything having to do with contact modeling, including but not limited to deformables.
For modularity, we seek to place all contact mechanics code within a ContactManager, outside MultibodyPlant.
I think we can finally say this is true. The only missing related item is to make our new SAP solver the default, the topic of newer issue #19322.
For modularity, we seek to place all contact mechanics code within a
ContactManager
, outsideMultibodyPlant
. This is the plan:MultibodyPlant
within a givenContactManager
. (Q1 2022)MultibodyPlant
(Q4 2022/Q1 2023).