mbsim 4.0.0 MBSim Kernel

maxwell_contact.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _MAXWELL_CONTACT_H_
21 #define _MAXWELL_CONTACT_H_
22
23 #include <mbsim/links/single_contact.h>
24 #include <mbsim/numerics/linear_complementarity_problem/linear_complementarity_problem.h>
25 #include <map>
26
27 namespace MBSim {
28
29 class ContactKinematics;
30 class GeneralizedForceLaw;
31 class GeneralizedImpactLaw;
32 class FrictionForceLaw;
33 class FrictionImpactLaw;
34 class InfluenceFunction;
35
39 class MaxwellContact : public Link {
40 public:
45 MaxwellContact(const std::string &name = "");
46
50 ~MaxwellContact() override;
51
52 /* INHERITED INTERFACE OF LINKINTERFACE */
53 void updatewb() override;
54 void updateW(int i = 0) override;
55 void updateV(int i = 0) override;
56 void updateh(int i = 0) override;
57 void updateg() override;
58 void updategd() override;
59 void updateStopVector() override;
60 void updateJacobians(int j = 0) override;
61 /***************************************************/
62
63 /* INHERITED INTERFACE OF LINK */
64 void updateWRef(fmatvec::Mat &ref, int j = 0) override;
65 void updateVRef(fmatvec::Mat &ref, int j = 0) override;
66 void updatehRef(fmatvec::Vec &hRef, int j = 0) override;
67 void updaterRef(fmatvec::Vec &hRef, int j = 0) override;
68 void updatewbRef(fmatvec::Vec &ref) override;
69 void updatelaRef(fmatvec::Vec& ref) override;
70 void updateLaRef(fmatvec::Vec& ref) override;
71 void updategRef(fmatvec::Vec& ref) override;
72 void updategdRef(fmatvec::Vec& ref) override;
73 void updateresRef(fmatvec::Vec& ref) override;
74 void updaterFactorRef(fmatvec::Vec &ref) override;
75 void updatesvRef(fmatvec::Vec &ref) override;
76 void updatejsvRef(fmatvec::VecInt &ref) override;
77 void updateLinkStatusRef(fmatvec::VecInt &LinkStatusParent) override;
78 void updateLinkStatusRegRef(fmatvec::VecInt &LinkStatusRegParent) override;
79 void calclaSize(int j) override;
80 void calcgSize(int j) override;
81 void calcgdSize(int j) override;
82 void calcrFactorSize(int j) override;
83 void calcsvSize() override;
84 void calcLinkStatusSize() override;
85 void calcLinkStatusRegSize() override;
86 void init(InitStage stage, const InitConfigSet &config) override;
87 bool isSetValued() const override;
88 bool isSingleValued() const override;
89 void updateLinkStatus() override;
90 void updateLinkStatusReg() override;
91 bool isActive() const override;
92 bool gActiveChanged() override;
93 bool detectImpact() override;
94 void solveImpactsFixpointSingle() override;
95 void solveConstraintsFixpointSingle() override;
96 void solveImpactsGaussSeidel() override;
97 void solveConstraintsGaussSeidel() override;
98 void solveImpactsRootFinding() override;
99 void solveConstraintsRootFinding() override;
100 void jacobianConstraints() override;
101 void jacobianImpacts() override;
102 void updaterFactors() override;
103 void checkConstraintsForTermination() override;
104 void checkImpactsForTermination() override;
105 void checkActive(int j) override;
106 void setGeneralizedForceTolerance(double tol) override;
107 void setGeneralizedImpulseTolerance(double tol) override;
108 void setGeneralizedRelativePositionTolerance(double tol) override;
109 void setGeneralizedRelativeVelocityTolerance(double tol) override;
110 void setGeneralizedRelativeAccelerationTolerance(double tol) override;
111 void setrMax(double rMax_) override;
112 void setLinkStatusInd(int LinkStatusInd_) override;
113 void setLinkStatusRegInd(int LinkStatusRegInd_) override;
114 void setsvInd(int svInd_) override;
115 void setlaInd(int laInd_) override;
116 void setgInd(int gInd_) override;
117 void setgdInd(int gdInd_) override;
118 void setrFactorInd(int rFactorInd_) override;
119 void LinearImpactEstimation(double t, fmatvec::Vec &gInActive_, fmatvec::Vec &gdInActive_, int *IndInActive_, fmatvec::Vec &gAct_, int *IndActive_) override;
120 void SizeLinearImpactEstimation(int *sizeInActive_, int *sizeActive_) override;
121 void updatecorrRef(fmatvec::Vec& ref) override;
122 void updatecorr(int j) override;
123 void calccorrSize(int j) override;
124 void setcorrInd(int corrInd_) override;
125 void checkRoot() override;
126 /***************************************************/
127
128 /* INHERITED INTERFACE OF ELEMENT */
129 void plot() override;
130 void setDynamicSystemSolver(DynamicSystemSolver *sys) override;
131 /***************************************************/
132
133 void resetUpToDate() override;
134
135 /* GETTER / SETTER */
136
137 void setNormalForceLaw(GeneralizedForceLaw *fcl_);
138 GeneralizedForceLaw * getNormalForceLaw() const { return fcl; }
139 void setNormalImpactLaw(GeneralizedImpactLaw *fnil_);
140 void setTangentialForceLaw(FrictionForceLaw *fdf_);
141 void setTangentialImpactLaw(FrictionImpactLaw *ftil_);
142 void setContactKinematics(ContactKinematics* ck, size_t index = 0) {
143 assert(index < contactKinematics.size());
144 contactKinematics[index] = ck;
145 }
146 ContactKinematics* getContactKinematics(size_t index = 0) const {
147 assert(index < contactKinematics.size());
148 return contactKinematics[index];
149 }
150
151 ContactKinematics* findContactKinematics(const std::string& cKName) const {
152 int pos = find(ckNames.begin(), ckNames.end(), cKName) - ckNames.begin();
153 if (pos < static_cast<int>(ckNames.size())) {
154 return contactKinematics[pos];
155 }
156 throwError("Name of contact Kinematics is not valid");
157 return nullptr;
158 }
159
160 const std::vector<std::vector<SingleContact>> & getSubcontacts() const {
161 return contacts;
162 }
163
164 virtual void setPlotFeatureContactKinematics(std::string cKName, std::size_t pf, bool value);
165 /***************************************************/
166
170 virtual int getFrictionDirections();
171
179 void connect(Contour *contour1, Contour* contour2, ContactKinematics* contactKinematics = nullptr, const std::string & name = "");
180
181 Contour* getContour(int i, int j=0) { return contour[i][j]; }
182
183 SingleContact& getSingleContact(int i, int j=0) { return contacts[i][j]; }
184
185 void initializeUsingXML(xercesc::DOMElement *element) override;
186
187 void setGlobalSearch(bool gS_) { gS = gS_; }
188 void setInitialGlobalSearch(bool iGS_) { iGS = iGS_; }
189 void setInitialGuess(const fmatvec::MatV &zeta0_) { zeta0 <<= zeta0_; }
190
194 void setTolerance(double tol_) { tol = tol_; }
195
196 virtual void initializeContourCouplings();
197
206 void addContourCoupling(Contour *contour1, Contour *contour2, InfluenceFunction *fct);
207
208 void setDampingCoefficient(double d) { dampingCoefficient = d; }
209
210 void setGapLimit(double gLim_) { gLim = gLim_; }
211
215 virtual void updatePossibleContactPoints();
216
222 virtual void updateInfluenceMatrix();
223
227 void updateRigidBodyGap();
228
235 virtual double computeInfluenceCoefficient(const std::pair<int, int> & contactIndex);
236
244 virtual double computeInfluenceCoefficient(const std::pair<int, int> & contactIndex, const std::pair<int, int> & couplingContactIndex);
245
246 /*
247 * \brief computes the "material constant" to have a good guess for the lambda-vector
248 */
249 virtual void computeMaterialConstant();
250
251 void updateGeneralizedPositions() override;
252 void updateGeneralizedForces() override;
253
254 std::shared_ptr<OpenMBV::Group> getLinksOpenMBVGrp() override { return getOpenMBVGrp(); }
255 H5::GroupBase *getLinksPlotGroup() override { return getPlotGroup(); }
256
257 protected:
261 std::vector<std::vector<SingleContact>> contacts;
262
266 std::vector<ContactKinematics*> contactKinematics;
267
268 std::vector<std::vector<Contour*>> contour;
269
275 std::vector<std::string> ckNames;
276
282 std::map<std::pair<std::string, std::size_t>, bool> plotFeatureMap;
283
287 GeneralizedForceLaw *fcl;
288
292 FrictionForceLaw *fdf;
293
297 GeneralizedImpactLaw *fnil;
298
302 FrictionImpactLaw *ftil;
303
304 bool gS;
305 bool iGS;
306
307 fmatvec::MatV zeta0;
308
312 double tol;
313
320 std::vector<std::pair<int, int>> possibleContactPoints;
321
325 LinearComplementarityProblem LCP;
326
330 fmatvec::SymMat C;
331
332 /*
333 * \brief vector of rigid body distances(gaps) for the active contacts
334 */
335 fmatvec::Vec rigidBodyGap;
336
340 std::map<std::pair<Contour*, Contour*>, InfluenceFunction*> influenceFunctions;
341
345 fmatvec::Vec solution0;
346
350 double dampingCoefficient;
351
355 double gLim;
356
360 double matConst;
361
365 bool matConstSetted;
366
367 private:
368 struct saved_references {
369 std::string name1;
370 std::string name2;
371 std::string contourPairingName;
372 };
373 std::vector<saved_references> saved_ref;
374 struct xmlInfo {
375 InfluenceFunction * function;
376 std::string name1;
377 std::string name2;
378 };
379 std::vector<xmlInfo> referenceXML;
380 };
381
382 }
383
384 #endif
MBSim::MaxwellContact::plot
void plot() override
plots time dependent data
Definition: maxwell_contact.cc:464
MBSim::GeneralizedForceLaw
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:34
MBSim::MaxwellContact::updatehRef
void updatehRef(fmatvec::Vec &hRef, int j=0) override
references to complete and link smooth force vector of dynamic system parent
Definition: maxwell_contact.cc:140
MBSim::MaxwellContact::LinearImpactEstimation
void LinearImpactEstimation(double t, fmatvec::Vec &gInActive_, fmatvec::Vec &gdInActive_, int *IndInActive_, fmatvec::Vec &gAct_, int *IndActive_) override
get gap distance and calculate gap velocity of unilateral links to estimate impacts within the next s...
Definition: maxwell_contact.cc:709
MBSim::MaxwellContact::contactKinematics
std::vector< ContactKinematics * > contactKinematics
list of the single contact kinematics
Definition: maxwell_contact.h:266
MBSim::MaxwellContact::contacts
std::vector< std::vector< SingleContact > > contacts
list of the single sub-contact(-points)
Definition: maxwell_contact.h:261
MBSim::Link
general link to one or more objects
Definition: link.h:48
MBSim::MaxwellContact::updatesvRef
void updatesvRef(fmatvec::Vec &ref) override
references to stopvector of dynamic system parent (root function for event driven integration)
Definition: maxwell_contact.cc:211
MBSim::LinearComplementarityProblem
class to solve a linear complementarity problem
Definition: linear_complementarity_problem.h:38
MBSim::MaxwellContact::updaterFactors
void updaterFactors() override
update relaxation factors for contact equations
Definition: maxwell_contact.cc:643
MBSim::MaxwellContact::isSingleValued
bool isSingleValued() const override
asks the link if it contains single valued force laws that contribute to the right-hand side vector h
Definition: maxwell_contact.cc:409
MBSim::MaxwellContact::updateVRef
void updateVRef(fmatvec::Mat &ref, int j=0) override
references to condensed contact force direction matrix of dynamic system parent
Definition: maxwell_contact.cc:133
MBSim::DynamicSystemSolver
solver interface for modelling and simulation of dynamic systems
Definition: dynamic_system_solver.h:61
MBSim::MaxwellContact::connect
void connect(Contour *contour1, Contour *contour2, ContactKinematics *contactKinematics=nullptr, const std::string &name="")
Definition: maxwell_contact.cc:678
MBSim::MaxwellContact::checkImpactsForTermination
void checkImpactsForTermination() override
verify underlying force laws on velocity level concerning given tolerances
Definition: maxwell_contact.cc:657
MBSim::MaxwellContact::solveConstraintsFixpointSingle
void solveConstraintsFixpointSingle() override
Definition: maxwell_contact.cc:594
MBSim::MaxwellContact::updatePossibleContactPoints
virtual void updatePossibleContactPoints()
saves all possible contacts in a vector
Definition: maxwell_contact.cc:963
MBSim::MaxwellContact::solveConstraintsRootFinding
void solveConstraintsRootFinding() override
Definition: maxwell_contact.cc:622
MBSim::MaxwellContact::calcrFactorSize
void calcrFactorSize(int j) override
calculates size of rfactors
Definition: maxwell_contact.cc:273
MBSim::MaxwellContact::C
fmatvec::SymMat C
Influence matrix between contact points.
Definition: maxwell_contact.h:330
MBSim::Contour
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::MaxwellContact::updaterRef
void updaterRef(fmatvec::Vec &hRef, int j=0) override
references to nonsmooth force vector of dynamic system parent
Definition: maxwell_contact.cc:147
MBSim::MaxwellContact::updatewbRef
void updatewbRef(fmatvec::Vec &ref) override
references to TODO of dynamic system parent
Definition: maxwell_contact.cc:154
MBSim::MaxwellContact::dampingCoefficient
double dampingCoefficient
coefficient for possible contact damping
Definition: maxwell_contact.h:350
MBSim::MaxwellContact::solveImpactsFixpointSingle
void solveImpactsFixpointSingle() override
Definition: maxwell_contact.cc:587
MBSim::MaxwellContact::updategRef
void updategRef(fmatvec::Vec &ref) override
references to contact relative distances of dynamic system parent
Definition: maxwell_contact.cc:178
MBSim::MaxwellContact::possibleContactPoints
std::vector< std::pair< int, int > > possibleContactPoints
saves the indices of all active contacts in pairs
Definition: maxwell_contact.h:320
MBSim::MaxwellContact::checkConstraintsForTermination
void checkConstraintsForTermination() override
verify underlying force laws concerning given tolerances
Definition: maxwell_contact.cc:650
MBSim::MaxwellContact::calcsvSize
void calcsvSize() override
calculates size of stopvector (root function for event driven integration)
Definition: maxwell_contact.cc:283
MBSim::MaxwellContact::updateRigidBodyGap
void updateRigidBodyGap()
update the rigid body distances (gaps) for the single contacts
Definition: maxwell_contact.cc:997
MBSim::MaxwellContact::jacobianImpacts
void jacobianImpacts() override
computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level
Definition: maxwell_contact.cc:636
MBSim::MaxwellContact::solveImpactsRootFinding
void solveImpactsRootFinding() override
Definition: maxwell_contact.cc:615
MBSim::Element::getPlotGroup
H5::GroupBase * getPlotGroup()
Definition: element.h:139
H5::GroupBase
MBSim::MaxwellContact::updatelaRef
void updatelaRef(fmatvec::Vec &ref) override
references to contact force parameter of dynamic system parent
Definition: maxwell_contact.cc:162
MBSim::MaxwellContact::solveConstraintsGaussSeidel
void solveConstraintsGaussSeidel() override
Definition: maxwell_contact.cc:608
MBSim::MaxwellContact::addContourCoupling
void addContourCoupling(Contour *contour1, Contour *contour2, InfluenceFunction *fct)
add a function that represents the coupling between two contours
Definition: maxwell_contact.cc:903
MBSim::MaxwellContact::detectImpact
bool detectImpact() override
Definition: maxwell_contact.cc:454
MBSim::MaxwellContact::calcLinkStatusSize
void calcLinkStatusSize() override
calculates size of vector LinkStatus
Definition: maxwell_contact.cc:293
MBSim::MaxwellContact::updateLaRef
void updateLaRef(fmatvec::Vec &ref) override
references to contact force parameter of dynamic system parent
Definition: maxwell_contact.cc:170
MBSim::MaxwellContact::gLim
double gLim
relative contact point distance limit under which damping is active
Definition: maxwell_contact.h:355
MBSim::MaxwellContact::computeInfluenceCoefficient
virtual double computeInfluenceCoefficient(const std::pair< int, int > &contactIndex)
computes the coupling factor for the influence matrix on one contact point (two contours)
Definition: maxwell_contact.cc:1008
MBSim::MaxwellContact::solution0
fmatvec::Vec solution0
Solution of the last time, where contact has to be solved (can be used as starting guess for the next...
Definition: maxwell_contact.h:345
MBSim::MaxwellContact::saved_references
Definition: maxwell_contact.h:368
MBSim::MaxwellContact::plotFeatureMap
std::map< std::pair< std::string, std::size_t >, bool > plotFeatureMap
plotFeatures of sub-contacts
Definition: maxwell_contact.h:282
MBSim::MaxwellContact::fcl
GeneralizedForceLaw * fcl
force laws in normal and tangential direction on acceleration and velocity level
Definition: maxwell_contact.h:287
MBSim::MaxwellContact::ckNames
std::vector< std::string > ckNames
names for the contact kinematics
Definition: maxwell_contact.h:275
MBSim::MaxwellContact::fdf
FrictionForceLaw * fdf
force law defining relation between tangential velocities and tangential forces
Definition: maxwell_contact.h:292
MBSim::MaxwellContact::influenceFunctions
std::map< std::pair< Contour *, Contour * >, InfluenceFunction * > influenceFunctions
saves the influence functions for a pair of contours. The key is the pair of contour names
Definition: maxwell_contact.h:340
MBSim::MaxwellContact::updateLinkStatusRegRef
void updateLinkStatusRegRef(fmatvec::VecInt &LinkStatusRegParent) override
reference to vector of link status (for single-valued links)
Definition: maxwell_contact.cc:235
MBSim::MaxwellContact::~MaxwellContact
~MaxwellContact() override
destructor
Definition: maxwell_contact.cc:50
MBSim::MaxwellContact::xmlInfo
Definition: maxwell_contact.h:374
MBSim::FrictionImpactLaw
basic friction force law on velocity level for constraint description
Definition: friction_impact_law.h:32
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::MaxwellContact::isSetValued
bool isSetValued() const override
asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore s...
Definition: maxwell_contact.cc:402
MBSim::MaxwellContact::updaterFactorRef
void updaterFactorRef(fmatvec::Vec &ref) override
references to rfactors of dynamic system parent
Definition: maxwell_contact.cc:203
MBSim::FrictionForceLaw
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:34
MBSim::MaxwellContact::updategdRef
void updategdRef(fmatvec::Vec &ref) override
references to contact relative velocities of dynamic system parent
Definition: maxwell_contact.cc:187
MBSim::GeneralizedImpactLaw
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
MBSim::MaxwellContact::setDynamicSystemSolver
void setDynamicSystemSolver(DynamicSystemSolver *sys) override
sets the used dynamics system solver to the element
Definition: maxwell_contact.cc:471
MBSim::MaxwellContact::calcLinkStatusRegSize
void calcLinkStatusRegSize() override
calculates size of vector LinkStatusReg
Definition: maxwell_contact.cc:304
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::MaxwellContact::tol
double tol
tolerance for root-finding
Definition: maxwell_contact.h:312
MBSim::MaxwellContact::MaxwellContact
MaxwellContact(const std::string &name="")
constructor
Definition: maxwell_contact.cc:47
MBSim::MaxwellContact::checkActive
void checkActive(int j) override
check if set-valued contacts are active and set corresponding attributes
Definition: maxwell_contact.cc:664
MBSim::MaxwellContact::isActive
bool isActive() const override
Definition: maxwell_contact.cc:435
MBSim::MaxwellContact::matConstSetted
bool matConstSetted
parameter to save if matConst has been computed already
Definition: maxwell_contact.h:365
MBSim::InfluenceFunction
function describing the influence between the deformations on a body
Definition: influence_function.h:45
MBSim::MaxwellContact::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: maxwell_contact.cc:315
MBSim::MaxwellContact
class for maxwell contacts
Definition: maxwell_contact.h:39
MBSim::MaxwellContact::solveImpactsGaussSeidel
void solveImpactsGaussSeidel() override
Definition: maxwell_contact.cc:601
MBSim::MaxwellContact::fnil
GeneralizedImpactLaw * fnil
force law defining relation between penetration velocity and resulting normal impulses
Definition: maxwell_contact.h:297
MBSim::MaxwellContact::updatejsvRef
void updatejsvRef(fmatvec::VecInt &ref) override
references to stopvector evaluation of dynamic system parent (root detection with corresponding bool ...
Definition: maxwell_contact.cc:219
MBSim::MaxwellContact::gActiveChanged
bool gActiveChanged() override
Definition: maxwell_contact.cc:444
MBSim::MaxwellContact::SizeLinearImpactEstimation
void SizeLinearImpactEstimation(int *sizeInActive_, int *sizeActive_) override
calculates the number of active and inactive unilateral constraints and increments sizeActive/sizeInA...
Definition: maxwell_contact.cc:716
MBSim::MaxwellContact::LCP
LinearComplementarityProblem LCP
variable for the LCP
Definition: maxwell_contact.h:325
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::MaxwellContact::ftil
FrictionImpactLaw * ftil
force law defining relation between tangential velocities and forces impulses
Definition: maxwell_contact.h:302
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::MaxwellContact::getFrictionDirections
virtual int getFrictionDirections()
Definition: maxwell_contact.cc:671
MBSim::MaxwellContact::updateInfluenceMatrix
virtual void updateInfluenceMatrix()
updates the influence matrix C
Definition: maxwell_contact.cc:974
MBSim::MaxwellContact::calcgSize
void calcgSize(int j) override
calculates size of relative distances
Definition: maxwell_contact.cc:253
MBSim::MaxwellContact::updateLinkStatusRef
void updateLinkStatusRef(fmatvec::VecInt &LinkStatusParent) override
reference to vector of link status (for set valued links with piecewise link equations)
Definition: maxwell_contact.cc:227
MBSim::MaxwellContact::jacobianConstraints
void jacobianConstraints() override
computes JACOBIAN and mass action matrix of nonlinear contact equations
Definition: maxwell_contact.cc:629
MBSim::MaxwellContact::calcgdSize
void calcgdSize(int j) override
calculates size of gap velocities
Definition: maxwell_contact.cc:263
MBSim::MaxwellContact::setTolerance
void setTolerance(double tol_)
set tolerance for root-finding
Definition: maxwell_contact.h:194
MBSim::MaxwellContact::updateWRef
void updateWRef(fmatvec::Mat &ref, int j=0) override
references to contact force direction matrix of dynamic system parent
Definition: maxwell_contact.cc:126
MBSim::MaxwellContact::updateresRef
void updateresRef(fmatvec::Vec &ref) override
references to residuum of nonlinear contact equations of dynamic system parent
Definition: maxwell_contact.cc:195
MBSim::MaxwellContact::matConst
double matConst
parameter for guessing starting values of contact force (average eigenvalue of influence-matrix)
Definition: maxwell_contact.h:360
MBSim::MaxwellContact::calclaSize
void calclaSize(int j) override
calculates size of contact force parameters
Definition: maxwell_contact.cc:243
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30