raisim::contact::TerrainContactLaw
struct · #include <raisim/contact/TerrainContactLaw.hpp>
Internal, frozen material history for one mesh quadrature contact during the coupled solve. sinkage is the body's step-start depth below the rest surface; it is below plastic while the body still approaches the rut.
Public member functions
pressure
cpp
double pressure(double depth, double *derivative=nullptr) constviscousOrigin
cpp
double viscousOrigin() constDepth where viscous travel starts. An approaching body moves the soil only below the rut.
Public attributes
area
cpp
double areasinkage
cpp
double sinkageplastic
cpp
double plasticshear
cpp
double shearmodulus
cpp
double modulusexponent
cpp
double exponentelasticStiffness
cpp
double elasticStiffnessdamping
cpp
double dampingcohesion
cpp
double cohesionfriction
cpp
double frictionshearScale
cpp
double shearScale