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[anna effeindzourou <question201769@xxxxxxxxxxxxxxxxxxxxx>]

New question #201769 on Yade:
https://answers.launchpad.net/yade/+question/201769

Hi all,
I am using the Hertz Mindlin contact law with a simple example a sphere rolling on a inclined facet and then on a horizontal facet. I've observed that the sphere is rolling up  and down.
Here is a small script to help you understand the phenomenon.


#!/usr/bin/python
# -*- coding: utf-8 -*-
from yade import utils

h=0.2

O.materials.append(FrictMat(young=1.7e8,poisson=0.20588,frictionAngle=radians(17),density=2650))
s1=O.bodies.append( utils.sphere([0.0000001,0.5,h+0.1],.1,color=[0,1,0],fixed=False,wire=True))


v1=(0,0,h)
v6=(0,1,h)
v2=(.5,0,0)
v3=(2,0,0)

v4=(2,1,0)
v5=(0.5,1,0)
  
f1=O.bodies.append( utils.facet([v1,v2,v5], dynamic=None, fixed=True, wire=True, color=None, highlight=False, noBound=False, mask=1))
f2=O.bodies.append( utils.facet([v1,v5,v6], dynamic=None, fixed=True, wire=True, color=None, highlight=False, noBound=False,  mask=1))  
f3=O.bodies.append( utils.facet([v2,v3,v4], dynamic=None, fixed=True, wire=True, color=None, highlight=False, noBound=False, mask=1))
f4=O.bodies.append( utils.facet([v2,v4,v5], dynamic=None, fixed=True, wire=True, color=None, highlight=False, noBound=False,  mask=1))
    
## time step
O.dt=1e-5

O.engines=[
	ForceResetter(),
	InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb()]), 
	InteractionLoop(
	[Ig2_Facet_Sphere_ScGeom(),Ig2_Sphere_Sphere_ScGeom()],
	[
	Ip2_FrictMat_FrictMat_MindlinPhys(en=0.1, krot=1,eta=1)
	],
	[Law2_ScGeom_MindlinPhys_Mindlin(includeMoment=True),
	]),
	NewtonIntegrator(damping=0,gravity=(0,0,-9.81)),
]

Any ideas?

cheers, 
Anna

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