Modules | |
Multibody Dynamics Constraints | |
This documentation describes the types of multibody constraints supported in Drake, including specialized constraint types- namely point-based contact constraints that allow Drake's constraint solver to readily incorporate the Coulomb friction model. | |
Hydroelastic Contact User Guide | |
Parsing Models for Multibody Dynamics | |
Drake's drake::multibody::Parser accepts model files written in a variety of input formats. | |
Contact Modeling in Drake | |
Drake is concerned with the simulation of physical phenomena, including contact between simulated objects. | |