Open m-kormann opened 6 months ago
Well on default parameters this change does not change the behavior at all and all existing tests should have the same results.
If we set a value of m_inv_fixed = 1e-15
instead of zero, the behavior will be different, but at very low scale. So we cannot compare with the original behavior. Should we add a test if the results are similar?
The current implementation of the friction models require the velocity to be selected as state. This is not the case for all model configurations (e. g. a MultiBody crankshaft connected to a translational bearing). The problem can be reduced to this exemplary model:
This can be solved by introducing an inertial stuck mode as described in the documentation of this PR: