Non-smooth contacts incompatible with Runge Kutta integrator?

projectchrono / chrono

High-performance C++ library for multiphysics and multibody dynamics simulations

http://projectchrono.org

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Non-smooth contacts incompatible with Runge Kutta integrator? #512

Open wedesoft opened 3 weeks ago

wedesoft commented 3 weeks ago

Hi, I managed to get collisions working using NSC material and Euler Implicit Projected (source code: stack.cc). However when I switch to the Runge Kutta 4 method, the collisions don't seem to work properly any more.

falling stack

Am I doing something wrong or is the NSC solver just incompatible with Runge Kutta integration?

wedesoft commented 3 weeks ago

Ok, found this document https://www.projectchrono.org/assets/white_papers/ChronoCore/integrator.pdf