15.57 14.3.10 Convención de fuerza
| Elemento | Convención |
|---|---|
canonicalVector |
F_scene_on_body |
reactionVector |
F_body_on_scene = -F_scene_on_body |
unit |
N |
frameRequirement |
W, G_j or S_i; frameId required |
surfaceNormal |
n points from material surface into usable free space |
normalComponent |
F_n = dot(F_scene_on_body, n) |
tangentialComponent |
F_t = F_scene_on_body - F_n*n |
compressiveContactRule |
For each actual micro-contact patch without adhesion, normal reaction is non-negative within uncertainty. |
multiPatchRule |
Hooks, pinches and jams may require several patches; an object-level resultant may appear incompatible with any single normal. |
torqueConvention |
tau_about_point = (contactPoint - referencePoint) x F_scene_on_body |
F_body_on_scene = -F_scene_on_body
F_n = F_scene_on_body · n
F_t = F_scene_on_body - F_n n
tau_o = (r_contact - r_o) × F_scene_on_bodyLa normal n sale de la superficie hacia el espacio
libre. Un heel hook o pinch puede necesitar varios patches: el vector
resultante del objeto no debe forzarse artificialmente dentro de la
normal de una única cara.