Contact dynamics of uneven surfaces using HuntCrossley method

[Andrés Hidalgo]

Hello,
I want to simulate contact dynamics between musculoskeletal models and uneven surfaces (stairs or irregular surfaces) using HuntCrossley method. The idea is to put in contact spheres located at the feet and the irregular surface as a contact geometry attached to the ground.

I understand that is possible to build uneven surfaces using meshed surfaces but this will force to use Elastic Foundation method to compute the contact forces. I want to use HuntCrossley method since it is more accurate and faster to compute that EF.

Is there any way to introduce uneven surfaces to compute the contact dynamics using HuntCorssley method? I would appreciate any help or example implementing something similar.

Thank you and best regards

Andres

[Thomas Uchida]

The HuntCrossleyForce "uses Hertz contact theory to model the interactions between a set of ContactSpheres and ContactHalfSpaces" (https://simtk.org/api_docs/opensim/api_ ... ml#details). For background on the theory, please see the Simbody Theory Manual (https://github.com/simbody/simbody/tree ... imbody/doc), Section 11.2.