cop-sim-demo

Some examples of contact simulation using the COP resolution method.

01-single-contact:

Simulation of a falling and rolling capsule on a plane surface. Note: This does not use the cop_simulator library. Instead, it directly resolves the COP point for a line contact using the resolveCOPLineContactWithLastCOPSol function. For collision resolution, the solveCollLCPOnePoint and solveCollLCPPoint functions are used.

02-two-capsules:

Simulation of several falling, colliding and rolling capsules using the cop_sim framework. Note: This simulation fails currently if a simultaneous contact occurs between one capsule with the ground as well as with another cylinder lying flat on the ground. i.e. only upto 1 simultaneous point contact and 1 line contact are resolved. Note: 02-two-capsules/collisionDetectionDemo.cpp: This visualizes the minimum distance computation between two capsules with a single collision between them.

03-one-cylinder:

Simulation of a surface contact between one cylinder and a ground surface. A time-increasing force is applied to the top surface of the cylinder causing it to topple over due to friction at the surface contact.

04-two-arm-rolling:

Simulation of a robot arm rolling a rolling pin with the palm of its hand. The contact surface of the palm is modeled as a single capsule perpendicular to the rolling pin. As a result, there is only a simultaneous 1 point- 1 line contact. Eventually, this will be extended to two arms with 3 simultaneous line contacts.

05-one-box:

Simulation of a surface contact between one box and a ground surface.

06-one-box:

Simulation of a surface contact between one n-sided regular pyramid and a ground surface.