File floorContactForce.h

class floorContactForce : public baseForce

Public Functions

floorContactForce(const shared_ptr<softRobots> &soft_robots, double floor_delta, double floor_slipTol, double floor_z, double floor_mu = 0.0)

~floorContactForce() override

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

void change_slip_tol(double scale)

void reset_slip_tol()

Public Members

double min_dist

int num_contacts

Private Functions

void computeFriction(const Vector2d &curr_node, const Vector2d &pre_node, double fn, double mu, double dt)

void prepFrictionJacobianInput(const Vector2d &curr_node, const Vector2d &pre_node, double fn, double mu, double dt)

Private Members

shared_ptr<symbolicEquations> sym_eqs

Vector<double, 2> contact_input

Vector<double, 8> fric_jacobian_input

Matrix<double, 2, 2> friction_partials_dfr_dx

Vector<double, 2> friction_partials_dfr_dfn

Vector<double, 2> ffr

int fric_jaco_type

double contact_stiffness

double floor_mu

double delta

double slipTol

double orig_slip_tol

double K1

double K2

double floor_z