Hi I am studying the method of calculating the contact force in OpenSim. I have studied the Hunt and Crossley Model for calculation of contact and its usage in OpenSim. Also, I have checked the codes of OpenSim core and SimBody. In the HuntCrossleyContact.cpp, I have noticed that K consists of two t...

Hi I am studying and trying to understand how contact forces are modeled in the Simbody, especially Hunt and Crossley force. The model that I am studying is a sphere bouncing on a plane. The stiffness coefficient between the sphere and plane is 10000000. At the first step of understanding, I have ne...