debug fric

scontact/scontact.c

@@ -618,10 +618,10 @@ static void contact_get_local_free_velocity_tangent(Contact *c, ParticleProblem
     double res1[2];
     res0[0] = c->type==0 ? -p->omega[p->particles[c->o0].body]*c->r0[1] : 0;
     res0[1] = c->type==0 ? p->omega[p->particles[c->o0].body]*c->r0[0] : 0;
-    res1[0] = -p->omega[p->particles[c->o1].body]*c->r1[1];
-    res1[1] = p->omega[p->particles[c->o1].body]*c->r1[0];
+    res1[0] = p->omega[p->particles[c->o1].body]*c->r1[1];
+    res1[1] = -p->omega[p->particles[c->o1].body]*c->r1[0];
     for(int d = 0;d<DIMENSION;d++){
-      v[1] -= (res0[d]+res1[d]) * c->basis[1][d];
+      v[1] += (res0[d]+res1[d]) * c->basis[1][d];
     }
 #endif
 #endif
@@ -1142,13 +1142,17 @@ static int contact_solve(ParticleProblem *p, Contact *c, double dt, double tol)
     }
   }
   else {
+    
     double v[DIMENSION]= {0.}; // local free velocity in the contact basis
     for (int i=0; i < DIMENSION; ++i) {
       for (int j=0; j < DIMENSION; ++j) {
-        v[i] += (v0[j]-v1[j])*c->basis[i][j];
+        //v[i] += (v0[j]-v1[j])*c->basis[i][j];
       }
+      //printf("v[%d] : %f\n",i,v[i]);
     }
-    //contact_get_local_free_velocity_tangent(c, p, v0, v1, v);
+    contact_get_local_free_velocity_tangent(c, p, v0, v1, v);
+    //if(p->particles[c->o0].body == 31 && p->particles[c->o1].body == 21)
+      //printf("c->o0 : %ld c->o1 : %ld v[0] : %f v[1] : %f\n",c->o0,c->o1,v[0],v[1]);
     double wnn = c->imass0+c->imass1;
     double wtt = wnn;
     double wnt = 0;