Multibody Contact Modes
Each force element in the Forces palette has a mode parameter that determines how the normal contact force is modeled.
There are three modes:
Linear spring and damper,
Linear spring and limited damper, and
Hunt and Crossley.
For each mode, the compression force, fc, and damping force, fd, are computed and then combined to arrive at the normal force, fn. The compression force depends on the displacement, u, and the uncompressed length, L0. The damping force depends on the velocity, v. The uncompressed length depends on the geometries of the contacting elements; for example, for two spheres it is the sum of their radii, while for a sphere and a disk it is the sum the radius of the sphere and the thickness of the disk.
If a contacting body penetrates more than half the uncompressed length, it penetrates the surface. To prevent penetration, the compression and damping factors should be increased.
Linear Spring and Damper
Linear Spring and Limited Damper
Hunt and Crossley
For a free body of mass m, the penetration depth with d=0 is mc⁢v, and with c=0 is md⁢v.
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