Functions
void	getContactForce (const double penalty, const double gap, const double normal[3], double contact_force[3])

Function Documentation

◆ getContactForce()

void nimble::details::getContactForce	(	const double	penalty,
		const double	gap,
		const double	normal[3],
		double	contact_force[3] )

inline

{
  const double scale = penalty * gap;
  for (int i = 0; i < 3; ++i) contact_force[i] = scale * normal[i];
}