forked from 1b-agent/fieldcraft-upstream
jyvikoandClaude Opus 5.5
a30d0b5c5b
Segment-to-segment penalty contact between element faces: each secondary face and each main face facing it are projected onto the secondary face's plane, split into triangles, clipped (Sutherland–Hodgman) and integrated with a three-point rule per sub-triangle (Puso–Laursen segmentation, the penalty at the integration points as Fischer–Wriggers), so a uniform pressure gives the consistent nodal forces on both meshes and the contact patch test passes on non-matching meshes. Every contact runs both ways at half the penalty: pairs with each surface as the secondary, general and self contact face against face. A bucket grid of face boxes every increment, faces integrated in parallel and their forces added in face order: the same numbers on any thread count. The penalty per area ε = s γ min(m/A)/Δt² comes from the lumped masses, each node's directional area and the stable increment, bounded by Gershgorin's row sums so contact never shortens the increment. Coulomb friction with exponential decay by a regularised return map at the secondary nodes; rigid walls take Coulomb impulses. Contact work and friction dissipation join the energy balance; each contact reports its peak force, first and last contact, deepest penetration, friction and the nodes adjusted at the start (initial penetrations adjusted strain-free or refused with the node, face and depth); a cap on contact faces. Verified (crates/explicit/tests/contact.rs, tests/oracle/explicit-*): colliding bars (2L/c +1.2%, ρcAv₀/2, KE kept to 0.005%, contact energy back to 8e-5 of it), blocks sliding to a stop on a rigid wall and on a plate under constant and decaying friction (0.005–0.2%), the patch test (σ_zz uniform to 0.06%), two spheres colliding against Hertz (peak +2.3%, duration −0.4%; the oracle case waits for a graded sphere mesher), a free body untouched by general contact, determinism across threads. Oracle measures gain `over` (ratios). Existing fixtures do not move. Co-Authored-By: Claude Opus 5.5 <[email protected]> Claude-Session: https://claude.ai/code/session_01NmAttHhUZTokgPeEJia8sm
641 B
641 B
Block sliding to a stop on a deformable plate (explicit contact, decaying friction)
The block of explicit-sliding-block-wall (1 × 1 × 0.5, 4 × 4 × 2 hex8, E = 10⁵, ν = 0.3,
ρ = 1) rests on a plate 4.5 × 2 × 0.5 of 9 × 4 × 1 hex8 held at its base, the two meshes not
matching; a contact pair joins the plate's top and the block's bottom with Coulomb friction whose
coefficient falls with the slip rate, μ = 0.2 + 0.3 e^(−1.5 v). Under gravity g = 10 the block
is launched along x at v₀ = 3. A rigid block decelerates at g μ(v), stops after 1.2001 and travels
∫₀^v₀ v dv / (g μ(v)) = 2.01524. Solved to t = 1.56.