> plasticDissipation +=
(shearDisp+(1/currentContactPhysics->ks)*(shearForce-prevForce)).dot(shearForce)
If the increment is fully plastic, prevForce is the max_previous but
shearForce is not yet equal to the max_current value since you set
shearForce *= ratio
only after having determined the plasticDissipation. Is this correct?
You are right, there is some nonsense, I've been mixing two different
formulations (also : the dot product is using the "trial" shearForce,
and shear disp. is counted twice...).
Would it be better that way (same as Vaclav's formula for stress/strain
in the same thread)? :
if( shearForce.squaredNorm() > maxFs ){
Real ratio = Mathr::Sqrt(maxFs) / shearForce.norm();
Vector3r trialForce=shearForce;//store prev force for
definition of plastic slip
shearForce *= ratio;
plasticDissipation +=
((1/currentContactPhysics->ks)*(trialForce-shearForce))//plastic disp.
.dot(shearForce);//active force
}
Bruno
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