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[Question #683708]: Elastic potential energy of polyhedra
New question #683708 on Yade:
Following the discussion in , the normal stiffness "kn" in the Law2_PolyhedraGeom_PolyhedraPhys_Volumetric can have different units depending on the value of "volumePower"; e.g. for the default value volumePower=1, kn is in [N/m^3].
When calculating the elastic potential energy, we currently use [2,3,4]:
where "kn" should be in [N/m] for the units to give energy values [Joules=N*m].
I think the energy calculation in the normal direction should change either as 0.5*(normalForce.squaredNorm()/(phys->kn*phys->area),
where area the projection of the overlapping volume perpendicularly to the normal direction (this would work only if volumePower=1), or more safely, use the equivalentPenetrationDepth to begin with (which works regardless of the units of kn). Btw, looking at the calculation of the equivalentPenetrationDepth [5,6], is the exact "area" calculated or is an estimation made?
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