Harrison, A contact container includes all contacts between contactables (i.e., physics objects that carry collision geometry). Assuming you followed the example Luning pointed to, you dealt with contacts between two ChBody objects. You would do the exact same thing if one or both bodies were of type ChBodyAuxRef (the only difference is the local reference frame with respect to which the collision model is positioned (centroidal frame for a ChBody, some other frame for ChBodyAuxRef).
--Radu From: [email protected] <[email protected]> On Behalf Of Harrison Pearl Sent: Wednesday, February 5, 2025 9:08 PM To: ProjectChrono <[email protected]> Subject: [chrono] Re: Directional (anisotropic) friction support in Chrono Hi, Following up, I was able to successfully create and implement a custom friction model based on the provided demo you linked. The model works as expected when applied to a ChContactContainer object. Is it possible to apply this custom friction model to an object of type ChBodyAuxRef, or is there a different approach I should take? Any assistance or insights would be greatly appreciated. Sincerely, Harrison Pearl On Saturday, January 11, 2025 at 9:07:55 AM UTC-8 Luning Bakke wrote: Hello Harrison, You can use a callback to customize your friction model. Check out this demo, demo_MBS_callbackSMC.cpp <https://urldefense.com/v3/__https:/github.com/projectchrono/chrono/blob/main/src/demos/mbs/demo_MBS_callbackSMC.cpp*L112__;Iw!!Mak6IKo!MCMEXgU_ht89pHvq-t6CrduUqWik0zQtX6q5W30FXo9jJHfjvnma7mmvniLaXC3qXXjU7XDN7WPsMw$> Thank you, Luning On Saturday, January 11, 2025 at 8:52:58 AM UTC-6 [email protected] wrote: Hi All, Does Chrono support directional (anisotropic) friction, where friction varies based on the direction of motion relative to the surface? if it doesn't, one approach I’m considering is to use as a work around is the rolling friction feature. By applying it conditionally based on the velocity vector of an object relative to the surface with directional friction, I think this would constitute, for my purposes, anisotropic friction. Would this be a reasonable way to approximate anisotropic friction in Chrono, or are there better methods or workarounds? Sincerely, Harrison Pearl -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/dabb7d76-fb38-4bbc-8916-c5d00b59eb98n%40googlegroups.com<https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/dabb7d76-fb38-4bbc-8916-c5d00b59eb98n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!MCMEXgU_ht89pHvq-t6CrduUqWik0zQtX6q5W30FXo9jJHfjvnma7mmvniLaXC3qXXjU7XA3u_m7kA$>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/CH3PPF46CDC2185FCCC8E6227F5588386BAA7F22%40CH3PPF46CDC2185.namprd06.prod.outlook.com.
