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EulerSimulator discontinuity in friction force during sliding #26

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hammoudbilal opened this issue Jun 2, 2020 · 2 comments
Closed

EulerSimulator discontinuity in friction force during sliding #26

hammoudbilal opened this issue Jun 2, 2020 · 2 comments

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@hammoudbilal
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hammoudbilal commented Jun 2, 2020 •
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Hi @andreadelprete,

with the new changes, testing consim_py/demos/sliding_point_mass.py with both Euler and Exponential simulator, there is a loss in the contact forces in a scenario where constant sliding should occur.

ratio_tangent-normal_contact_forces

ratio_tangent-normal_contact_forces

I am currently looking for the source of this difference.
@hammoudbilal
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this bug is fixed, contactNormal_ and normal_ were used interchangeably in LinearPenaltyContactModel::computeForce(), maybe rename normal_ to normalPenetration_ ?

I will close this issue for now as it is fixed

@andreadelprete
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Renaming to normalPenetration seems a good idea!

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@andreadelprete @hammoudbilal