Sphere in Sphere Contact Force (3D)

This block implements a contact force between two spheres. The force acts to keep distance from frame SphB to SphF less than (inner radius SphB - radius SphF).

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.