File kernel/src/simulationTools/GlobalRollingFrictionContact.hpp

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Primal Fricton-Contact Non-Smooth Problem


typedef int (*GRFC3D_Driver)(GlobalRollingFrictionContactProblem*, double*, double*, double*, SolverOptions*)

Pointer to function of the type used for drivers for GlobalRollingFrictionContact problems in Numerics.

class GlobalRollingFrictionContact : public GlobalFrictionContact
#include <>

Formalization and Resolution of a Friction-Contact Problem.

This class is devoted to the formalization and the resolution of primal friction contact problems defined by :

\[\begin{split} M velocity = q + H reaction \\ globalVelocities = H^T velocity + tildeGlobalVelocities \end{split}\]

and \( globalVelocities, reaction \) belongs to the Coulomb friction law with unilateral contact.


  • \( velocity \in R^{n} \) and \( reaction \in R^{n} \) the unknowns,

  • \( M \in R^{n \times n } \) and \( q \in R^{n} \)

  • \( globalVelocities \in R^{m} \) and \( reaction \in R^{m} \) the unknowns,

  • \( tildeGlobalVelocities \in R^{m} \) is the modified local velocity ( \( e U_{N,k} \))

  • \( M \in R^{n \times n } \) and \( q \in R^{n} \)

  • \( H \in R^{n \times m } \)

The dimension of the problem (2D or 3D) is given by the variable contactProblemDim and the right Numerics driver will be called according to this value.


  • Constructor from data (inputs = Simulations*, id, SP::NonSmoothSolver) - The solver is optional. Main functions:

Main functions:

  • formalization of the problem: computes M,q using the set of “active” Interactions from the simulation and

    the interactionBlock-matrices saved in the field interactionBlocks.

    Functions: initialize(), computeInteractionBlock(), preCompute()

  • solving of the GlobalRollingFrictionContact problem: function compute()

    , used to call solvers from Numerics through

    the frictionContact2D_driver() or frictionContact3D_driver() interface of Numerics.

  • post-treatment of data: set values of y/lambda variables of the active Interaction

    (ie Interactions) using

    ouput results from the solver (velocity,reaction); function


For details regarding the available options, see Nonsmooth problems formulations and available solvers in users’ guide.

Public Functions

GlobalRollingFrictionContact(int dimPb, int numericsSolverId = SICONOS_GLOBAL_ROLLING_FRICTION_3D_NSGS_WR)

constructor (solver id and dimension)

  • dimPb – dimension (2D or 3D) of the friction-contact problem

  • numericsSolverId – id of the solver to be used, optional, default : SICONOS_GLOBAL_FRICTION_3D_NSGS

GlobalRollingFrictionContact(int dimPb, SP::SolverOptions options)

constructor from a pre-defined solver options set


options – the options set

inline virtual ~GlobalRollingFrictionContact()


inline int getGlobalRollingFrictionContactDim() const

get the type of GlobalRollingFrictionContact problem (2D or 3D)


an int (2 or 3)

inline size_t getGlobalSizeOutput() const

get dimension of the problem


an unsigned ing

inline SP::MuStorage mur() const

get a pointer to mu, the list of the friction coefficients


pointer on a std::vector<double>

inline double getMur(unsigned int i) const

get the value of the component number i of mu, the vector of the friction coefficients


the friction coefficient for the ith contact

virtual void initialize(SP::Simulation sim)

initialize the GlobalRollingFrictionContact problem(compute topology …)


sim – the simulation, owner of this OSNSPB

SP::GlobalRollingFrictionContactProblem globalRollingFrictionContactProblem()

the friction contact problem from Numerics

GlobalRollingFrictionContactProblem *globalRollingFrictionContactProblemPtr()

the friction contact problem from Numerics (raw ptr, do not free)

int solve(SP::GlobalRollingFrictionContactProblem problem = SP::GlobalRollingFrictionContactProblem())

solve a friction contact problem


problem – the friction contact problem


info solver information result

virtual bool preCompute(double time)

Construction of the problem.


time – current time

virtual int compute(double time)

Compute the unknown reaction and velocity and update the Interaction (y and lambda )


time – current time

virtual bool checkCompatibleNSLaw(NonSmoothLaw &nslaw)
void updateMu()
void updateMur()
virtual void display() const

print the data to the screen

Protected Functions


Protected Attributes

int _contactProblemDim = 5

Type (dimension) of the contact problem (2D or 3D)

SP::MuStorage _mu_r

rolling friction coefficients

GRFC3D_Driver _g_rolling_driver

Pointer to the function used to call the Numerics driver to solve the problem.

GlobalRollingFrictionContactProblem _numerics_problem

Private Functions

GlobalRollingFrictionContact() = default

default constructor