This program determines if a planar rigid body, subject to a specified set of stationary point contacts, is in form closure (using linear programming optimization). As input program takes a CSV file with a list of contacts defined as (x, y) coordinates and its normal (in degrees).
Open form example:
Closed form example:
The body IS IN form closure. The solution - 'k' vector is:
[39.99999565 1.00000002 40.99999554 57.98330576]