simtk.org

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 terms k_1 and k_2. In OpenSim model, I can define only 1 stiffness term and I do not know how this defined stiffness term is used in the calculation of contact forces.
What is k_1 and k_2 terms and which one of them is the stiffness term that we define in our model?
Thanks
Milad

Contact forces are computed when two bodies collide; each body has a stiffness. For details, please refer to Section 11.2 of the Simbody Theory Manual: https://github.com/simbody/simbody/tree ... imbody/doc.