[ODE] ODE with non-penetration constraint

[Rich Walker]

Bill Sellers <wis at mac.com> writes:

> No, I mean it is only an approximation of reality and then only for  
> fairly smooth, rigid surfaces. Soft materials like rubber just don't  
> behave that way. The friction force is not linearly related to normal  
> force and velocity and contact area both have significant effects.  
> Once you add in any sort of tread then it gets even worse. The  
> Coulomb model is really just a convenience so we can quote  
> coefficients of friction at each other ;->

At some point, (rapidly receding into the future,I think...) I'm going
to want to be able to model contact with polyurethanes of various Shore
hardnesses. Any ideas where I should start looking?

cheers, Rich.

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