Planar contact joint

@PLANAR_CONTACT_JOINT_DEFINITION {
@PLANAR_CONTACT_JOINT_NAME {PcjName} {
@EDGE_NAME {EdgeName}
@ETA_VALUE {η0k, η0l}
@CONTACT_MODEL_NAME {CntModlName}
@FRICTION_MODEL_NAME {FctModlName}
}
}

NOTES

  1. A planar contact joint is a joint that allows contact between the outer surfaces of two rigid body masses. The planar contact joint is associated with an edge, EdgeName. Vertices Vertex0Name and Vertex1Name are associated with this edge. Rigid body masses Rbm0Name and Rbm1Name are associated with vertices Vertex0Name and Vertex1Name, respectively. The outer shapes that come in contact are curves Curve0Name and Curve1Name that are associated with the rigid body masses Rbm0Name and Rbm1Name, respectively. Find more information about: the representation of multibody systems, and the formulation of constraints in multibody systems.
  2. Parameters ηk and ηl parameterize curves Curve0Name and Curve1Name, respectively. The initial values of these parameters, η0k and η0l must be specified.
  3. The contact model CntModlName, defines physical characteristics of the contact between the two bodies.
  4. Optionally, the friction model, FctModlName, defines physical characteristics of the friction between the two bodies.