[Collision] ADD optional viscous friction at sliding contact points

aleblanc30 commented 2 months ago

Add a parameter "drag" to the collision response. When two objects slip past each other, a force of magnitude -drag*relative_velocity is applied to the contact points.

By submitting this pull request, I acknowledge that
I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

Reviewers will merge this pull-request only if

it builds with SUCCESS for all platforms on the CI.
it does not generate new warnings.
it does not generate new unit test failures.
it does not generate new scene test failures.
it does not break API compatibility.
it is more than 1 week old (or has fast-merge label).

hugtalbot commented 2 months ago

Hi @aleblanc30 A very nice PR for a first PR! Thanks a lot reviews have been shared to you:

MOR plugin need to be fixed (we will take care of it) and take reviews into account regarding the object registration.

aleblanc30 commented 2 months ago

Thank you @hugtalbot, I'm working on it :-)

sofa-framework / sofa

[Collision] ADD optional viscous friction at sliding contact points #4991