Typedefs
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)

Typedefs

Functions

Detailed Description

Function Documentation