(16) is supposed to update shear force F_s (vector):
F_s=F_s+K_s*ΔX_s
but this is not correct, since you add ΔX_s (which is in the _current_
contact plane) to F_s (which is shear force from the previous step, i.e.
in the _previous_ contact plane)!!
I don't understand the problem. F_s and ΔX_s are in the global
coordinate system, not in any contact plane.
Not a single word about transforming
F_s to the current plane first, which must be done and really happens in
yade code [2].
Rotating the previous force to account for the rotation of the pair and
computing the new force increment are two independant things.
There is no constitutive behaviour in a simple rigid-body rotation, so
it is correct to not mix the two problems I think.
Anyone has a good reference to a serious (preferrably reviewed &
published) paper [1] describing the incremental algorithm accurately?
I'll see what I have.
Bruno
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