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Contact, wheel slip, and friction documentation #694

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Contact, wheel slip, and friction documentation #694

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124cfb4
Tutorial about contact, slip, and friction
scpeters Jul 10, 2024
cbcea78
Tutorial about wheel-terrain contact
scpeters Jul 10, 2024
6146759
fix whitespace
scpeters Jul 29, 2024
8a0b5fa
Try an svg illustration of contact
scpeters Jul 31, 2024
ea45fc2
Use svg groups and define top objects last
scpeters Jul 31, 2024
21e89f5
Add animation of contact without slip
scpeters Aug 2, 2024
dc8fee2
Add animation of contact with slip
scpeters Aug 2, 2024
0af01a1
Use one large box on bottom
scpeters Aug 2, 2024
8a752c5
Make box slide and wheel slip backwards
scpeters Aug 2, 2024
bd5b118
Use same smaller radius for top circles
scpeters Aug 2, 2024
69322c4
Make contact figure look more like slip figures
scpeters Aug 2, 2024
c5df8b2
Add illustrations of contact without and with slip
scpeters Aug 4, 2024
1db11c7
update wording
scpeters Aug 14, 2024
1c4ad5b
more friction write-up
scpeters Aug 16, 2024
9ae8f23
discuss constraint relaxation, add ascii plot
scpeters Aug 16, 2024
c02caa6
compare friction step to saturation plot
scpeters Aug 16, 2024
7b58cfa
Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli…
scpeters Aug 16, 2024
7b0e09c
re-order section, add references about non-dim slip
scpeters Aug 16, 2024
489396a
incorporate feedback about friction
scpeters Aug 17, 2024
75dc5a1
Expand description of slip compliance
scpeters Aug 23, 2024
5ca2408
document mu, friction coefficient
scpeters Aug 23, 2024
53e3dfb
Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli…
scpeters Aug 23, 2024
55f2b4b
define wheel directions, nondimensional wheel slip
scpeters Aug 24, 2024
2f4e156
Comment on accuracy, consistency of contact points
scpeters Sep 19, 2024
9d86ebc
Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli…
scpeters Sep 19, 2024
6dc031b
add comment
scpeters Sep 21, 2024
93aa332
define sat(x), relaxed friction function
scpeters Sep 21, 2024
d88128e
Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli…
scpeters Sep 21, 2024
73b2a7a
define friction curve with slip differently
scpeters Sep 26, 2024
eed7b48
Merge branch 'scpeters/contact_slip_friction' into scpeters/wheel_sli…
scpeters Sep 26, 2024
847ca5e
change V_C to v_t, V_W to v_W for consistency
scpeters Sep 26, 2024
9944b2a
document wheel slip plugin's nondimensional calcs
scpeters Sep 26, 2024
3f457dd
Add contact patch discussion, plowing figures
scpeters Sep 27, 2024
a3d615d
fix table syntax
scpeters Sep 27, 2024
57946c6
clarify slip value definitions with s_a, s_b, S_a
scpeters Sep 27, 2024
4e8f218
move wheel coordinates earlier, finish plowing
scpeters Sep 27, 2024
b7eb227
document nonlinear friction model
scpeters Sep 27, 2024
6c768ff
Merge branch 'gz-physics8' into scpeters/wheel_slip_tutorial
scpeters Dec 12, 2024
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380 changes: 380 additions & 0 deletions tutorials/10_contact_slip_friction.md
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391 changes: 391 additions & 0 deletions tutorials/11_wheel_contact.md
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22 changes: 22 additions & 0 deletions tutorials/img/contact_boxes_circles.svg
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45 changes: 45 additions & 0 deletions tutorials/img/noslip_boxes_circles.svg
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67 changes: 67 additions & 0 deletions tutorials/img/plowing_angles.svg
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41 changes: 41 additions & 0 deletions tutorials/img/slip_boxes_circles.svg
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100 changes: 100 additions & 0 deletions tutorials/img/wheel_coordinates.svg
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