Contact dynamics between Brick and Sphere elements using HuntCrossley method

[Andrés Hidalgo]

Hello

I want to compute the contact dynamics between sphere objects and some steps, for instance the steps of a stair. Since I was not able to use SmoothHeightMap to simulate contact dynamics I tried by using Brick objects from contactGeometry, but the spheres and bricks are like "transparent" to each other, i.e. I did an experiment using Brick and Sphere elements falling to the ground where I attached a halfspace and they both, Brick and Sphere get in contact with the halfspace but they do no mutually interact between them.

1) Is there any way to put in contact Brick and Spheres to compute contact dynamics with HuntCrossley method?
2) If it is not possible, is there any way to create a steps that can be in contact with Sphere elements using HuntCrossley method?

Regarding the point 2) I know it is possible to create steps using blocks created by triangles and mesh, but the problem of this approach is that the contact dynamic should be computed using Elastic foundation, not HuntCrossley approach.

I can provide the code I have in order to compute the Brick and Sphere contact dynamic if necessary. I would really appreciate your help with this matter.

Thank you and best regards

Andres