How to get friction forces and support forces as vectors from Spatial Contact Force?

Hello. I use 'Spatial Contact Force' to model the interaction between a ball and a plane in Simscape Multibody. The output of contact force is scalar. How can I get the vectors of normal support forces and friction forces? Thanks!

Answer 1

[Vasco Lenzi]

hi XiaoXing

th output of the block are just magnitude. You can "create" a vecotr yourself by combining a Transform Sensor (to get the angles and rotations between two frames) with the output of the Spatial Contact Forces and some trigonometry.