raisim::GranularSystem::Material

struct · #include <raisim/object/granular/GranularSystem.hpp>

Material shared by all particles. Mass is density * sphere volume per particle.

Public attributes

density

double density

Particle density (kg/m^3), positive.

normalStiffness

double normalStiffness

Normal contact stiffness (N/m for LINEAR).

normalDamping

double normalDamping

Normal contact damping (N s/m). The total normal force is clamped to be nonnegative.

tangentialStiffness

double tangentialStiffness

Tangential (stick) spring stiffness (N/m). Zero means 0.5 * normalStiffness.

tangentialDamping

double tangentialDamping

Tangential damping (N s/m).

friction

double friction

Coulomb friction coefficient. Initial value of particle material 0 and of the boundary material.

rollingFriction

double rollingFriction

Rolling friction coefficient (resisting torque = coefficient * normal force * radius). Initial value of particle material 0 and of the boundary material.

cohesionStiffness

double cohesionStiffness

Particle-particle cohesion: attractive force cohesionStiffness * (cohesionMaxDistance - max(0, gap)) while the surface gap is at most cohesionMaxDistance. Zero disables cohesion.

cohesionMaxDistance

double cohesionMaxDistance

Maximum surface gap (m) for cohesion. Zero disables cohesion.

normalContactModel

NormalContactModel normalContactModel

Normal force law.

substeps

int substeps

Number of DEM substeps per world time step (positive).

maxSpeed

double maxSpeed

Linear speed clamp (m/s); zero disables it.

maxAngularSpeed

double maxAngularSpeed

Angular speed clamp (rad/s); zero disables it.