Question #683851 on Yade changed:
https://answers.launchpad.net/yade/+question/683851
Status: Open => Answered
Jan Stránský proposed the following answer:
> Can you atleast please give references for which Yade implemented the
contact detection from?
no :-) there is no reference, I just did something very simple to make it work.
- on polyhedron, find closes point ("closest") to the sphere's center
("center").
- then follow [1] to compute normal, penetrationDepth, contactPoint.
> in general
it is too general question :-) you can e.g.:
- use the current idea (see above)
- use the current idea, somehow enhanced (evaluate differently vertex/edge/face
cases)
- do the same as polyhedron-polyhedron contact does, i.e. compute overlapping
solid and use it for further computations (of contact point, normal direction
etc.)
- surely something else..
cheers
Jan
[1]
https://github.com/yade/trunk/blob/master/pkg/dem/Polyhedra_Ig2.cpp#L436
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