116 rigid body rod contact #117
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This commit fixes the rod-cylinder contact by adding torques due to the contact force on cylidner. Previously, we were only dealing with forces acting on cylinders however any contact force acting away from the cg will create torque.
Codecov Report
@@ Coverage Diff @@
## update-0.2.4 #117 +/- ##
================================================
- Coverage 87.09% 86.87% -0.23%
================================================
Files 40 40
Lines 2534 2567 +33
Branches 343 345 +2
================================================
+ Hits 2207 2230 +23
- Misses 305 315 +10
Partials 22 22
Continue to review full report at Codecov.
|
bhosale2
approved these changes
Jun 24, 2022
|
I will add one more example, where cylinder rotates after collision. |
|
@armantekinalp after you add the variable-angle collision case, no need to re-request, you can merge directly. |
|
Inclined rod - cylinder contact 2D_xz_rod_cylinder_contact.mp4 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fixes #116
Previous implementation of rigid cylinder rod contact was not taking into account torques generated on cylinder due to contact. This PR changes the previous implementation to incorporate torques generated by contact forces that are applied away from the cg of cylinder.
In order to validate implementation a new example simulation called
rod_cylinder_parallel_contact.pyis added where parallel rod and cylinder contact and exchange momentum. Simulation results are given below, whererod_oneis a Cosserat Rod ,rod_twois rigid cylinder.Blue rod is Cosserat Rod, Orange rod is Rigid Cylinder.
2D_xz_rod_cylinder_contact.mp4