Drake
Multibody Kinematics and Dynamics

Detailed Description

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.
 
 Contact Modeling in Drake
 Drake is concerned with the simulation of physical phenomena, including contact between simulated objects.