contact detection between polyhedra and sphere

Asked by lip on 2019-06-08

hello
i noticed that that there is a Ig2_Sphere_Polyhedra_ScGeom in yade, i want to know the principle of contact detection between them, such as how to cualculate the penetration deepth or pennetration volume between them? is there any papers i can read to help me understand that?
lookforward for your answer

Question information

Language:
English Edit question
Status:
Expired
For:
Yade Edit question
Assignee:
No assignee Edit question
Last query:
2019-06-27
Last reply:
2019-07-13
Jan Stránský (honzik) said : #1

Hello,

there is no paper about Yade implementation. But sure you could find something about the topic in general.

As the returned type is ScGeom, it computes penetration depth (no volume).

The principle is (see [1]):
- find the closest point of the polyhedron to the sphere's center
- penetrationDepth = sphere.radius - distance(sphere.center, theClosestPoint) # pseudocode

cheers
Jan

[1] https://gitlab.com/yade-dev/trunk/blob/master/pkg/dem/Polyhedra_Ig2.cpp#L322

lip (mr.xie) said : #2

thank you for your answer,i have seen the code and understand the principle. but i still have a question, is there anyone vertified that principle? if it does, can you offer me some relevent data?

Jan Stránský (honzik) said : #3

> is there anyone vertified that principle?

I don't think so.. This Ig2 was added by me as a "quick hack", which I considered reasonable.

cheers
Jan

Launchpad Janitor (janitor) said : #4

This question was expired because it remained in the 'Open' state without activity for the last 15 days.