Initial commit R2020a.

LICENSE.md

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+Copyright (c) 2020, The MathWorks, Inc.
+All rights reserved.
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+3. In all cases, the software is, and all modifications and derivatives of the software shall be, licensed to you solely for use in conjunction with MathWorks products and service offerings. 
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+
+

Models/Bouncing_Ball/sm_contact_ball_plot1time.m

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+% Code to plot simulation results from sm_contact_ball
+%% Plot Description:
+%
+% <enter plot description here if desired>
+%
+% Copyright 2016 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h1_sm_contact_ball', 'var') || ...
+        ~isgraphics(h1_sm_contact_ball, 'figure')
+    h1_sm_contact_ball = figure('Name', 'sm_contact_ball');
+end
+figure(h1_sm_contact_ball)
+clf(h1_sm_contact_ball)
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+mdl = 'sm_contact_ball';
+% Get simulation results, ZCs on
+set_param([mdl '/Spatial Contact Force 1'],'ZeroCrossDetectContactStartAndEnd','on');
+set_param([mdl '/Brick Solid Floor 1'],'BrickDimensions','[0.5 0.5 1]');
+
+sim(mdl);
+simlog_zcOn_t = simlog_sm_contact_ball.x6_DOF_Joint_Spherical_Solid.Pz.p.series.time;
+simlog_zcOn_pz = simlog_sm_contact_ball.x6_DOF_Joint_Spherical_Solid.Pz.p.series.values('m');
+
+% Get simulation results, ZCs off
+set_param([mdl '/Spatial Contact Force 1'],'ZeroCrossDetectContactStartAndEnd','off');
+sim(mdl);
+simlog_zcOff_t = simlog_sm_contact_ball.x6_DOF_Joint_Spherical_Solid.Pz.p.series.time;
+simlog_zcOff_pz = simlog_sm_contact_ball.x6_DOF_Joint_Spherical_Solid.Pz.p.series.values('m');
+
+% Turn ZCs back on
+set_param([mdl '/Spatial Contact Force 1'],'ZeroCrossDetectContactStartAndEnd','on');
+
+%% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+t_interp = 0:0.01:simlog_zcOn_t(end);
+
+% data interpolation with pchip
+simlog_zcOn_pz_int = interp1(simlog_zcOn_t,simlog_zcOn_pz,t_interp,'makima');
+simlog_zcOff_pz_int = interp1(simlog_zcOff_t,simlog_zcOff_pz,t_interp,'makima');
+
+plot(t_interp, simlog_zcOn_pz_int,...
+    'LineWidth', 0.5,'Color',temp_colororder(1,:))
+hold on
+plot(simlog_zcOn_t, simlog_zcOn_pz,...
+     'x','Color',temp_colororder(1,:))
+plot(t_interp, simlog_zcOff_pz_int,...
+    'LineWidth', 0.5,'Color',temp_colororder(2,:))
+hold on
+plot(simlog_zcOff_t, simlog_zcOff_pz,...
+     'o','Color',temp_colororder(2,:))
+hold off
+grid on
+title('Ball Height')
+ylabel('Height (m)')
+
+simlog_handles(2) = subplot(2, 1, 2);
+semilogy(simlog_zcOn_t(1:end-1), diff(simlog_zcOn_t), '-x')
+hold on
+semilogy(simlog_zcOff_t(1:end-1), diff(simlog_zcOff_t), '-o')
+%grid on
+title('Step Size')
+ylabel('Step Size (s)')
+xlabel('Time (s)')
+legend({['ZCs On: ' num2str(length(simlog_zcOn_t)) ' Steps'],...
+    ['ZCs Off: ' num2str(length(simlog_zcOff_t)) ' Steps']},'Location','Best');
+
+linkaxes(simlog_handles, 'x')
+
+% Remove temporary variables
+clear simlog_t simlog_handles temp_colororder
+

README.md

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+# **Spatial Contact Force Block Examples in Simscape Multibody™**
+Copyright 2020 The MathWorks, Inc.
+
+This repository contains a set of examples that demonstrate the 
+[Spatial Contact Force block](https://www.mathworks.com/help/physmod/sm/ref/spatialcontactforce.html).
+The examples cover:
+* **Solid-to-solid contact** between parameterized solids like bricks, spheres, and cylinders
+* **Contact between CAD geometry** including STEP files.
+
+Open the project file Spatial_Contact_Force_Examples.prj to get started.
+
+To learn more about contact modeling with Simscape Multibody, please visit:
+* [Modeling Contact Force Between Two Solids](https://www.mathworks.com/help/physmod/sm/ug/modeling-contact-force-between-two-solids.html)
+* [Use Contact Proxies to Simulate Contact](https://www.mathworks.com/help/physmod/sm/ug/use-contact-proxies.html)
+
+* Product Capabilities:
+   * [Simscape™](https://www.mathworks.com/products/simscape.html)
+   * [Simscape Driveline™](https://www.mathworks.com/products/simscape-driveline.html)
+   * [Simscape Electrical™](https://www.mathworks.com/products/simscape-electrical.html)
+   * [Simscape Fluids™](https://www.mathworks.com/products/simscape-fluids.html)
+   * [Simscape Multibody™](https://www.mathworks.com/products/simscape-multibody.html)

SECURITY.md

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+# Reporting Security Vulnerabilities 
+
+If you believe you have discovered a security vulnerability, please report it to 
+[[email protected]](mailto:[email protected]). Please see 
+[MathWorks Vulnerability Disclosure Policy for Security Researchers](https://www.mathworks.com/company/aboutus/policies_statements/vulnerability-disclosure-policy.html) 
+for additional information.  

Scripts_Data/shutdown_contact_examples_basic.m

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+% Shutdown script for custom project
+% Copyright 2019-2020 The MathWorks, Inc.
+
+%% Code for cleaning Simscape custom library at shutdown
+% Change to folder with package directory
+curr_proj = simulinkproject;
+cd(curr_proj.RootFolder)
+

Scripts_Data/startup_contact_examples_basic.m

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+% Startup script for project Aileron_Act.prj
+% Copyright 2018-2020 The MathWorks, Inc.
+
+%% Code for building Simscape custom library at startup
+% Change to folder with package directory
+curr_proj = simulinkproject;
+cd(curr_proj.RootFolder)
+
+% Change to root folder
+cd(curr_proj.RootFolder)
+
+% If running in a parallel pool
+% do not open model or demo script
+open_start_content = 1;
+if(~isempty(ver('parallel')))
+    if(~isempty(getCurrentTask()))
+        open_start_content = 0;
+    end
+end
+
+if(open_start_content)
+    sm_contact_ball
+end

Spatial_Contact_Force_Examples.prj

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+<?xml version="1.0" encoding="UTF-8"?>
+<MATLABProject xmlns="http://www.mathworks.com/MATLABProjectFile" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="1.0"/>

resources/project/-Rce9Lxzt4v7MmBOh-k5NnO_YJM/FyaTa5jAbbNpTXx8meWki5KFjkId.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info />

resources/project/-Rce9Lxzt4v7MmBOh-k5NnO_YJM/FyaTa5jAbbNpTXx8meWki5KFjkIp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER" />

resources/project/-Rce9Lxzt4v7MmBOh-k5NnO_YJM/Zk3_2T3lPJ2MLbjJEQOJHMSKR80d.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="96c40e67-021b-48a2-9371-288e60f8854b" />
+    </Category>
+</Info>

resources/project/-Rce9Lxzt4v7MmBOh-k5NnO_YJM/Zk3_2T3lPJ2MLbjJEQOJHMSKR80p.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Contact_Pairs" type="File" />

resources/project/-Rce9Lxzt4v7MmBOh-k5NnO_YJM/kGuUe5c4ceJlloGlvHI67EzHpmId.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="96c40e67-021b-48a2-9371-288e60f8854b" />
+    </Category>
+</Info>

resources/project/-Rce9Lxzt4v7MmBOh-k5NnO_YJM/kGuUe5c4ceJlloGlvHI67EzHpmIp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Bouncing_Ball" type="File" />

resources/project/Dej1EXCHO1lBMUOrVa6CRBeDYwc/14Uhi12DFW7jt-uoP2fY5Pg0yWQd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info />

resources/project/Dej1EXCHO1lBMUOrVa6CRBeDYwc/14Uhi12DFW7jt-uoP2fY5Pg0yWQp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER" />

resources/project/Dej1EXCHO1lBMUOrVa6CRBeDYwc/Hdv0mT0P2_2vgP3iTZ_QUuLTOREd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/Dej1EXCHO1lBMUOrVa6CRBeDYwc/Hdv0mT0P2_2vgP3iTZ_QUuLTOREp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/4AnaLvL6IYcz9FvbHoidDhBGK-4d.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="Scripts_Data" Type="Relative" />

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/4AnaLvL6IYcz9FvbHoidDhBGK-4p.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="8290916a-74f5-4fab-a235-465f403cbabc" type="Reference" />

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/Vcjer4c7nWYGtqVJsEx05hLtO6Ed.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="CAD/Geometry" Type="Relative" />

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/Vcjer4c7nWYGtqVJsEx05hLtO6Ep.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="470bdace-1ef7-4382-80f8-a3b6e29f870e" type="Reference" />

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/_03ieP6dVqjpkcvGhNXsa9wONUYd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="Models/Contact_Pairs" Type="Relative" />

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/_03ieP6dVqjpkcvGhNXsa9wONUYp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/p0ySlUaEAmmTC5xq8l0dcDNqQ0gd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/p0ySlUaEAmmTC5xq8l0dcDNqQ0gp.xml

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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/wNtnCeJPFGFnI9V3SYx2WTZVfx8d.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/wNtnCeJPFGFnI9V3SYx2WTZVfx8p.xml

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resources/project/Hdv0mT0P2_2vgP3iTZ_QUuLTORE/HHIgfScQlgpumZSzKhCAWvfGkOkd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/Hdv0mT0P2_2vgP3iTZ_QUuLTORE/HHIgfScQlgpumZSzKhCAWvfGkOkp.xml

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resources/project/Hdv0mT0P2_2vgP3iTZ_QUuLTORE/w4XkRawBR3uY1XzbcxSdve6hkZMd.xml

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resources/project/Hdv0mT0P2_2vgP3iTZ_QUuLTORE/w4XkRawBR3uY1XzbcxSdve6hkZMp.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/FOxD48oK_Cam4cSPQDoLH8emRIAd.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/FOxD48oK_Cam4cSPQDoLH8emRIAp.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/MZ70cUbTDcyOw_FJ-N1o2e30SNYd.xml

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+<Info Type="Basic" Visible="1" Icon="" File="Overview/html/ssc_main_model.html" Name="Overview" />

resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/MZ70cUbTDcyOw_FJ-N1o2e30SNYp.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/NIVCf60s0gFEmTT_7a3JrVvFTOYd.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/NIVCf60s0gFEmTT_7a3JrVvFTOYp.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/l-_mAHuXlFuqNn3SHZtq72ekySAd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/l-_mAHuXlFuqNn3SHZtq72ekySAp.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/qiWF0fMPQC87-D82uf9t1PbY7dod.xml

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resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/qiWF0fMPQC87-D82uf9t1PbY7dop.xml

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resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/2kj09UetkV_lru3gvSPXnY6-nM4p.xml

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resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/5lwKMgFqf-TpBv4xv63Pr5qry3Ed.xml

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resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/R1RggVhA72agIvELiuhWPRS8F0Id.xml

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resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/aEHSZBIY-yve10yGis12Zr5DLZod.xml

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resources/project/NjSPEMsIuLUyIpr2u1Js5bVPsOs/r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml

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resources/project/Project.xml

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resources/project/Tpa2TdYQyLNeWJn7EF8wbNd7gFU/luWVxOgQ3xpdrNwDN_3fR2W25KId.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Name="ForUser" />

resources/project/Tpa2TdYQyLNeWJn7EF8wbNd7gFU/luWVxOgQ3xpdrNwDN_3fR2W25KIp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="b001e324-d197-4d21-ac7d-a1401877b3e8" type="ExportProfile" />

resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="work" Type="Relative" />

resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="SimulinkCodeGenFolder" type="Reference" />

resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="work" Type="Relative" />