mechanisms.components.dissipation¶

Dissipation components: dampers with f(y, ẏ) and f·ẏ ≤ 0.

Classes

`ContactDamper`(coord, damping[, smoothing])	Damper active only in contact (d < 0) on a signed distance d: f = −D σ(−d/w) ḋ.
`ContactFriction`(distance, stiffness, friction)	Coulomb friction at a contact, smoothed: f = −μ F_n v_t / √(v_t² + v_s²) on the point of a signed distance, with v_t its velocity along the surface and F_n = k δ the contact force.
`DiodeDamper`(coord, damping[, sign, smoothing])	A damper that acts in one direction of motion only: f = −D gate(σ ẏ) ẏ per axis.
`LinearDamper`(coord, damping)	Linear damper, f = −D ẏ.
`TanhDamper`(coord, damping, max_force)	Saturating damper, per axis: f = −F tanh(d ẏ / F), within ±F on each axis.