In the core module of Chrono, you can modify your contact force model in
this file, src/chrono/physics/ChContactSMC.h
The function you need to look at is CalculateForce()
ChVector<> CalculateForce(
double delta, ///< overlap in normal direction
const ChVector<>& normal_dir, ///< normal contact direction
(expressed in global frame)
const ChVector<>& vel1, ///< velocity of contact point
on objA (expressed in global frame)
const ChVector<>& vel2, ///< velocity of contact point
on objB (expressed in global frame)
const ChMaterialCompositeSMC& mat ///< composite material for
contact pair
)
The following two lines match the equations you screenshotted. Note that
kn, gn, kt, gt are computed differently depending on the contact force
model you choose. forceN and forceT are normal and tangential force
magnitude.
// Calculate the magnitudes of the normal and tangential contact
forces
double forceN = kn * delta - gn * relvel_n_mag;
double forceT = kt * delta_t + gt * relvel_t_mag;
You can implement the model however you want.
Thank you,
Luning
On Tuesday, June 14, 2022 at 12:59:22 PM UTC-5 [email protected] wrote:
> Hi all,
>
> I have a question about changing the contact model in the Chrono. By the
> way, I am using (the core module of) Chrono.
> The viscoelastic model shows the damping term is proportional to velocity.
> Can we change it?
> [image: 4.png]
> We are studying fish motion on mud, which is shear-thinning
> <https://en.wikipedia.org/wiki/Shear_thinning> interaction. For example,
> we hope the damping term is proportional to the square root of the
> velocity. Can it be tuned by ourselves?
>
>
> Thanks,
> Qihan
>
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