Re: Contact Algorithm

Posted by Cédric Hubert on
URL: http://granoo.326.s1.nabble.com/Contact-Algorithm-tp330p332.html

Hi,

In GranOO, all bodies are rigid, and thus, the contact algorithms just deal with polytopes.

All contact algorithms in GranOO are penalty-based, which means that they introduce a force to overcome the bodies penetration. This force is linearly proportional to the penetration, and is applied at the body's centre of mass. This force is the called "contact force", and is the force you plotted on your graphs since there is no other external force applied on your bodies.

This is why the size of the bodies does not matter, especially when their mass is not taken into account (I guess you are prescribing a displacement).