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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

sega a écrit :
> Hello.
> What do doing the code on line 79-83 in ElasticContactLaw::action :
>
> axis =currentContactPhysics->prevNormal.Cross(currentContactGeometry->normal);
> shearForce -= shearForce.Cross(axis);
> angle = 
> dt*0.5*currentContactGeometry->normal.Dot(de1->angularVelocity+de2->angularVelocity);
> axis = angle*currentContactGeometry->normal;
> shearForce -= shearForce.Cross(axis);
>
> Thanks.
>
>   
They rotate current shear force according to contact rotation. So that 
if a pair of grain is subjected to a rigid body rotation (like a 360° 
turn without relative displacement between the grains), the force 
between grains is rotated as well.
Note that the same is done (implicitly) on the normal component, since 
Fn is always colinear with the normal, and the normal rotate with grains.

Bruno




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Chareyre Bruno
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