PressureFieldContact
This module implements the elastic foundation-themed contact model for rigid body dynamics described in this short video. This paper describes the method in greater detail.
This model was originally designed to model contact robotic manipulation tasks, and can model a variety of contacts including non-convex contacts. Compared to point contact it is accurate and slow. Compared to FEM it is inaccurate and fast.
Index
PressureFieldContact.Geometry.eMeshPressureFieldContact.MathKernel.basic_dhPressureFieldContact.MechanismScenarioPressureFieldContact.Clip.clipPressureFieldContact.Clip.clip_in_tet_coordinatesPressureFieldContact.Clip.clip_plane_tetPressureFieldContact.Clip.cut_clipPressureFieldContact.Clip.getTetQuadRulePressureFieldContact.Clip.getTriQuadRulePressureFieldContact.Clip.zero_small_coordinatesPressureFieldContact.Geometry.as_tet_eMeshPressureFieldContact.Geometry.as_tri_eMeshPressureFieldContact.Geometry.create_swept_meshPressureFieldContact.Geometry.eMesh_boxPressureFieldContact.Geometry.eMesh_cylinderPressureFieldContact.Geometry.eMesh_half_planePressureFieldContact.Geometry.eMesh_spherePressureFieldContact.Geometry.f_swept_circlePressureFieldContact.Geometry.f_swept_trivPressureFieldContact.Geometry.transform!PressureFieldContact.MathKernel.centroidPressureFieldContact.MathKernel.mul_then_un_padPressureFieldContact.MathKernel.one_pad_then_mulPressureFieldContact.add_body!PressureFieldContact.add_body_contact!PressureFieldContact.add_contact!PressureFieldContact.add_friction_bristle!PressureFieldContact.add_friction_regularize!PressureFieldContact.calcXd!PressureFieldContact.finalize!