Simbody
3.6

TODO: Simbody model element representing a conditionallyenforced constraint. More...
Static Public Member Functions  
static Real  calcEffectiveCOR (Real minCOR, Real captureSpeed, Real minCORSpeed, Real impactSpeed) 
Given the specified minimum coefficient of restitution (COR), capture speed, and the speed at which the minimum COR is attained, calculate an effective COR for a given impact speed. More...  
static Real  calcEffectiveCOF (Real mu_s, Real mu_d, Real mu_v, Real transitionSpeed, Real slipSpeed) 
Given the coefficients of friction and sliptorolling transition speed, calculate the effective COF mu for a given slip velocity. More...  
TODO: Simbody model element representing a conditionallyenforced constraint.

inlinestatic 
Given the specified minimum coefficient of restitution (COR), capture speed, and the speed at which the minimum COR is attained, calculate an effective COR for a given impact speed.
All speeds must be nonnegative. The COR will be zero at or below capture speed, will be minCOR at or above minCORSpeed, and will rise linearly with decreasing impact speed between minCORSpeed and the capture velocity.

inlinestatic 
Given the coefficients of friction and sliptorolling transition speed, calculate the effective COF mu for a given slip velocity.
Speeds must be nonnegative. This utility calculates mu with an abrupt rise at the transitionSpeed from the dynamic coefficient mu_d to the static coefficient mu_s. There is also a linear contribution mu_v*slipSpeed.