search

andreadelprete / consim

GNU General Public License v3.0
14 stars 1 forks source link

EulerSimulator discontinuity in friction force during sliding #26

Closed hammoudbilal closed 4 years ago

hammoudbilal commented 4 years ago

Hi @andreadelprete,

with the new changes, testing consim_py/demos/sliding_point_mass.py with both Euler and Exponential simulator, there is a loss in the contact forces in a scenario where constant sliding should occur.

ratio_tangent-normal_contact_forces

ratio_tangent-normal_contact_forces

I am currently looking for the source of this difference.

hammoudbilal commented 4 years ago

this bug is fixed, contactNormal_ and normal_ were used interchangeably in LinearPenaltyContactModel::computeForce(), maybe rename normal_ to normalPenetration_ ?

I will close this issue for now as it is fixed

andreadelprete commented 4 years ago

Renaming to normalPenetration seems a good idea!