Drake C++ Documentation
Multibody Kinematics and Dynamics

Detailed Description


 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.