Multibody Contact Force Block Examples in Simscape Multibody™

Copyright 2023 The MathWorks, Inc.

This repository contains a set of examples that demonstrate the Spatial Contact Force block and Planar Contact Force block The examples cover:

• Solid-to-solid contact between parameterized solids like bricks, spheres, and cylinders
• Contact between CAD geometry including STEP files.
• Point Cloud definition for efficient contact modeling of complex shapes.
• Grid Surface modeling for efficient contact modeling with terrain.
• Custom force law definition including collision and friction forces.
• Point cloud definition to evenly distribute points over areas and volume surfaces.
• Convex hull visualization by generating an STL of the hull for points and STL geometry.

Open the project file Spatial_Contact_Force_Examples.prj to get started.

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To learn more about contact modeling with Simscape Multibody, please visit:

• Modeling Contact Force Between Two Solids

• Use Contact Proxies to Simulate Contact

• Product Capabilities:

  • Simscape™
  • Simscape Battery™
  • Simscape Driveline™
  • Simscape Electrical™
  • Simscape Fluids™
  • Simscape Multibody™

This submission uses the S^2 Sampling Toolbox Anton Semechko (2022). Suite of functions to perform uniform sampling of a sphere (https://github.com/AntonSemechko/S2-Sampling-Toolbox), GitHub. Retrieved March 24, 2022.