Bugfix friction #24
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Bugfix friction #24
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This commit fixes the bug in kinetic friction module for both Numba and Numpy branch. Rolling (transverse) and axial kinetic friction forces uses the weight of rod elements. Previously weight of the element was not projected correctly in rolling and axial directions. This bug could only been seen in snake simulation, because snake is the only case where both friction directions appear for the same problem.
This commit adds an improvement for force calculations. Friction plane should be the last external forcing class that has to be evaluated. Previously user has to be carefully add friction plane class as a last external forcing class. Now in backhand Elastica sorts forcing classes and pushes the friction class at the end of forcing list.
This commit changes the b-spline implementation in code base. B-spline is used to generate muscle torques on continuum snake and flagella. Previously b-spline was forcing end control points to be zero, but with this commit we remove this constrain. Thus, for flagella we added zero control points to the ends to make sure it gives consistent results.
…b/PyElastica into bugfix-continuum_snake
We moved the function into the Slithering_Snake.ipynb so we can remove this file from the repository.
Bugfix continuum snake
Codecov Report
@@ Coverage Diff @@
## master #24 +/- ##
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+ Coverage 90.56% 90.57% +0.01%
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Files 58 58
Lines 3127 3131 +4
Branches 224 227 +3
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+ Hits 2832 2836 +4
Misses 272 272
Partials 23 23
Continue to review full report at Codecov.
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This commit adds a new unit test for forcing wrapper. Forcing wrapper now needs to sort and push any friction forces to the last for evaluated forces list. New test is testing this functionality.
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Continuum Snakeexample changed according to recent paper from our group Zhang et. al. Nature Comm. 2021. Simulation results are compared with the actual snake curvature profile.