How can I apply logics to Spatial Contact Force signals
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Hi,
Thanks for your support. I am trying to simulate contact between bodies of a complex shape. Since the convex hull does not approximate well the shape, I divided each body into one solid that has the shape of the core (which will never get in contact) and one solid for each 'protrusion' that I welded in place. The convex hull approximates the shape of each protrusion very well and the contact modeling is working perfectly.
From the problem itself I know for sure that there could be only two simultaneous contacts at a time, and since it is possible to easily compute the position of each protrusion at each timestep, I can define a logic to choose only 2 of them for each body and apply the contact only for those 2, for each timestep. Otherwise I would need to define n x m connections, where n and m are the number of protrusions of each couple of bodies.
To do so, I would need to apply this logic to the signal that connects Convex Hulls to Spatial Contact Force blocks, but I failed to find a block that works with that signal. Is there any way to accomplish this?
Also a bus for that kind of signals would be really helpful, especially if there is no solution to the question above, in order to tidy those signals up.
Huge thanks for your time and your support.
Best regards,
Fabio Mamone
1 Comment
道勇 朱
on 5 Apr 2022
Hello, has your problem been solved? I also encountered the problem of gear contact force. Can you give me some knowledge or suggestions? I would appreciate it
Answers (1)
Steve Miller
on 16 Jun 2021
Hi Fabio,
It isn't clear to me why you would want to turn the Spatial Contact Forces for the protusions off. Are you hoping to increase simulation speed?
I think what you are doing might be more efficently done using the Point Cloud block in Simscape Multibody:
Simscape Multibody can more efficiently determine which points are relevant for the current situation in the model, and you will only have one block and one connection to deal with.
--Steve
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