Impact

Typedefs
typedef struct SDTImpact	SDTImpact
	Opaque data structure representing the internal state of an impact interactor.
typedef struct SDTImpact	SDTImpact
	Opaque data structure representing the internal state of an impact interactor.

Functions
SDTInteractor *	SDTImpact_new ()
	Object constructor. More...
void	SDTImpact_free (SDTInteractor *x)
	Object destructor. param[in] Pointer to a SDTInteractor instance, configured for the impact case.
void	SDTImpact_setStiffness (SDTInteractor *x, double f)
	Sets the impact stiffness. More...
void	SDTImpact_setDissipation (SDTInteractor *x, double f)
	Sets the dissipation coefficient. More...
void	SDTImpact_setShape (SDTInteractor *x, double f)
	Sets the shape factor. More...

Detailed Description

Simulates a non-linear impact, computing impact force from the total compression, namely the relative displacement between the two contact points. The algorithm is based on the Hunt-Crossley impact model, with the resulting force being the sum of an elastic component and a dissipative term.

The elastic component is parameterized by the force stiffness (or elasticity) and a non-linear exponent which models the local geometry around the contact area. The linear dissipative component is parameterized by a dissipation (damping) weight.

Function Documentation

SDTInteractor * SDTImpact_new

(

)

Object constructor.

Returns

Pointer to a SDTInteractor instance, configured for the impact case

void SDTImpact_setDissipation	(	SDTInteractor *	x,
		double	f
	)

Sets the dissipation coefficient.

Parameters

[in]

f

Dissipation coefficient, positive scalar

void SDTImpact_setShape	(	SDTInteractor *	x,
		double	f
	)

Sets the shape factor.

Parameters

[in]

f

Shape factor. Must be > 1, with 1.5 = spherical shape. Optimal range [1,4]

void SDTImpact_setStiffness	(	SDTInteractor *	x,
		double	f
	)

Sets the impact stiffness.

Parameters

[in]

f

Impact stiffness (>> 1)