FrictionPotential¶

class FrictionPotential : public ipc::TangentialPotential;¶

The friction dissipative potential.

Public Functions¶

explicit FrictionPotential(const double eps_v);¶

Construct a friction potential.

Parameters:¶

const double eps_v¶

The smooth friction mollifier parameter \(\epsilon_v\).

inline double eps_v() const;¶

Get the smooth friction mollifier parameter \(\epsilon_v\).

inline void set_eps_v(const double eps_v);¶

Set the smooth friction mollifier parameter \(\epsilon_v\).

Parameters:¶

const double eps_v¶

The smooth friction mollifier parameter \(\epsilon_v\).

Protected Functions¶

virtual double mu_f0(const double x, const double mu_s,
    const double mu_k) const override;¶

Compute the value of the ∫ μ(y) f₁(y) dy, where f₁ is the first derivative of the smooth mollifier.

Parameters:¶

const double x¶

The tangential relative speed.

const double mu_s¶

Coefficient of static friction.

const double mu_k¶

Coefficient of kinetic friction.

Returns:¶

The value of the integral at x.

virtual double mu_f1_over_x(const double x, const double mu_s,
    const double mu_k) const override;¶

Compute the value of the [μ(y) f₁(y)] / x, where f₁ is the first derivative of the smooth mollifier.

Parameters:¶

const double x¶

The tangential relative speed.

const double mu_s¶

Coefficient of static friction.

const double mu_k¶

Coefficient of kinetic friction.

Returns:¶

The value of the product at x.

virtual double mu_f2_x_minus_mu_f1_over_x3(const double x,
    const double mu_s, const double mu_k) const override;¶

Compute the value of [(d/dx (μ(y) f₁(y))) x - μ(y) f₁(y)] / x³, where f₁ is the first derivative of the smooth mollifier.

Parameters:¶

const double x¶

The tangential relative speed.

const double mu_s¶

Coefficient of static friction.

const double mu_k¶

Coefficient of kinetic friction.

Returns:¶

The value of the derivative at x.

inline virtual bool is_dynamic(const double speed) const override;¶

Check if the potential is dynamic.

Parameters:¶

const double speed¶

The tangential relative speed.

Returns:¶

True if the potential is dynamic, false otherwise.

Protected Attributes¶

double m_eps_v;¶

The smooth friction mollifier parameter \(\epsilon_v\).

Private Types¶

using Super = TangentialPotential;¶