void HuntCrossleyForce::extendAddToSystem(SimTK::MultibodySystem& system) const
{
Super::extendAddToSystem(system);
const ContactParametersSet& contactParametersSet =
get_contact_parameters();
const double& transitionVelocity = get_transition_velocity();
SimTK::GeneralContactSubsystem& contacts = system.updContactSubsystem();
SimTK::ContactSetIndex set = contacts.createContactSet();
SimTK::HuntCrossleyForce force(_model->updForceSubsystem(), contacts, set);
force.setTransitionVelocity(transitionVelocity);
for (int i = 0; i < contactParametersSet.getSize(); ++i)
{
ContactParameters& params = contactParametersSet.get(i);
for (int j = 0; j < params.getGeometry().size(); ++j) {
// get the ContactGeometry from the Model
const ContactGeometry& geom =
getModel().getComponent<ContactGeometry>(params.getGeometry()[j]);
// B: base Frame (Body or Ground)
// F: PhysicalFrame that this ContactGeometry is connected to
// P: the frame defined (relative to F) by the location and
// orientation properties.
const auto& X_BF = geom.getFrame().findTransformInBaseFrame();
const auto& X_FP = geom.getTransform();
const auto X_BP = X_BF * X_FP;
contacts.addBody(set, geom.getFrame().getMobilizedBody(),
geom.createSimTKContactGeometry(), X_BP);
force.setBodyParameters(
SimTK::ContactSurfaceIndex(contacts.getNumBodies(set)-1),
params.getStiffness(), params.getDissipation(),
params.getStaticFriction(), params.getDynamicFriction(),
params.getViscousFriction());
}
}
// Beyond the const Component get the index so we can access the
// SimTK::Force later.
HuntCrossleyForce* mutableThis = const_cast<HuntCrossleyForce *>(this);
mutableThis->_index = force.getForceIndex();
}
void ElasticFoundationForce::addToSystem(SimTK::MultibodySystem& system) const
{
Super::addToSystem(system);
const ContactParametersSet& contactParametersSet =
get_contact_parameters();
const double& transitionVelocity = get_transition_velocity();
SimTK::GeneralContactSubsystem& contacts = system.updContactSubsystem();
SimTK::SimbodyMatterSubsystem& matter = system.updMatterSubsystem();
SimTK::ContactSetIndex set = contacts.createContactSet();
SimTK::ElasticFoundationForce force(_model->updForceSubsystem(), contacts, set);
force.setTransitionVelocity(transitionVelocity);
for (int i = 0; i < contactParametersSet.getSize(); ++i)
{
ContactParameters& params = contactParametersSet.get(i);
for (int j = 0; j < params.getGeometry().size(); ++j)
{
if (!_model->updContactGeometrySet().contains(params.getGeometry()[j]))
{
std::string errorMessage = "Invalid ContactGeometry (" + params.getGeometry()[j] + ") specified in ElasticFoundationForce" + getName();
throw (Exception(errorMessage.c_str()));
}
ContactGeometry& geom = _model->updContactGeometrySet().get(params.getGeometry()[j]);
contacts.addBody(set, matter.updMobilizedBody(SimTK::MobilizedBodyIndex(geom.getBody().getIndex())), geom.createSimTKContactGeometry(), geom.getTransform());
if (dynamic_cast<ContactMesh*>(&geom) != NULL)
force.setBodyParameters(SimTK::ContactSurfaceIndex(contacts.getNumBodies(set)-1),
params.getStiffness(), params.getDissipation(),
params.getStaticFriction(), params.getDynamicFriction(), params.getViscousFriction());
}
}
// Beyond the const Component get the index so we can access the SimTK::Force later
ElasticFoundationForce* mutableThis = const_cast<ElasticFoundationForce *>(this);
mutableThis->_index = force.getForceIndex();
}