+
diff --git a/Examples/2D/Cam_Follower/Help/Cam_Follower_Contact_Help_IMAGE.png b/Examples/2D/Cam_Follower/Help/Cam_Follower_Contact_Help_IMAGE.png
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diff --git a/Examples/2D/Cam_Follower/UI/Cam_Follower_UI.fig b/Examples/2D/Cam_Follower/UI/Cam_Follower_UI.fig
new file mode 100644
index 0000000..8749bbf
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diff --git a/Examples/2D/Cam_Follower/UI/Cam_Follower_UI.m b/Examples/2D/Cam_Follower/UI/Cam_Follower_UI.m
new file mode 100644
index 0000000..de3d74e
--- /dev/null
+++ b/Examples/2D/Cam_Follower/UI/Cam_Follower_UI.m
@@ -0,0 +1,273 @@
+function varargout = Cam_Follower_UI(varargin)
+% CAM_FOLLOWER_UI MATLAB code for Cam_Follower_UI.fig
+% CAM_FOLLOWER_UI, by itself, creates a new CAM_FOLLOWER_UI or raises the existing
+% singleton*.
+%
+% H = CAM_FOLLOWER_UI returns the handle to a new CAM_FOLLOWER_UI or the handle to
+% the existing singleton*.
+%
+% CAM_FOLLOWER_UI('CALLBACK',hObject,eventData,handles,...) calls the local
+% function named CALLBACK in CAM_FOLLOWER_UI.M with the given input arguments.
+%
+% CAM_FOLLOWER_UI('Property','Value',...) creates a new CAM_FOLLOWER_UI or raises the
+% existing singleton*. Starting from the left, property value pairs are
+% applied to the GUI before Cam_Follower_UI_OpeningFcn gets called. An
+% unrecognized property name or invalid value makes property application
+% stop. All inputs are passed to Cam_Follower_UI_OpeningFcn via varargin.
+%
+% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
+% instance to run (singleton)".
+%
+% See also: GUIDE, GUIDATA, GUIHANDLES
+
+% Copyright 2014-2018 The MathWorks, Inc.
+
+% Edit the above text to modify the response to help Cam_Follower_UI
+
+% Last Modified by GUIDE v2.5 14-Jul-2014 13:56:22
+
+% Begin initialization code - DO NOT EDIT
+gui_Singleton = 1;
+gui_State = struct('gui_Name', mfilename, ...
+ 'gui_Singleton', gui_Singleton, ...
+ 'gui_OpeningFcn', @Cam_Follower_UI_OpeningFcn, ...
+ 'gui_OutputFcn', @Cam_Follower_UI_OutputFcn, ...
+ 'gui_LayoutFcn', [] , ...
+ 'gui_Callback', []);
+if nargin && ischar(varargin{1})
+ gui_State.gui_Callback = str2func(varargin{1});
+end
+
+if nargout
+ [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
+else
+ gui_mainfcn(gui_State, varargin{:});
+end
+% End initialization code - DO NOT EDIT
+
+% --- Executes just before Cam_Follower_UI is made visible.
+function Cam_Follower_UI_OpeningFcn(hObject, eventdata, handles, varargin)
+% This function has no output args, see OutputFcn.
+% hObject handle to figure
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+% varargin command line arguments to Cam_Follower_UI (see VARARGIN)
+
+% Choose default command line output for Cam_Follower_UI
+handles.output = hObject;
+
+% Update handles structure
+guidata(hObject, handles);
+
+% This sets up the initial plot - only do when we are invisible
+% so window can get raised using Cam_Follower_UI.
+if strcmp(get(hObject,'Visible'),'off')
+ Plot_pushbutton_Callback(hObject,eventdata, handles);
+end
+
+% UIWAIT makes Cam_Follower_UI wait for user response (see UIRESUME)
+% uiwait(handles.figure1);
+
+
+% --- Outputs from this function are returned to the command line.
+function varargout = Cam_Follower_UI_OutputFcn(hObject, eventdata, handles)
+% varargout cell array for returning output args (see VARARGOUT);
+% hObject handle to figure
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Get default command line output from handles structure
+varargout{1} = handles.output;
+
+% --- Executes on button press in Plot_pushbutton.
+function Plot_pushbutton_Callback(hObject, eventdata, handles)
+% hObject handle to Plot_pushbutton (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+axes(handles.axes1);
+cla;
+
+r_tip = str2double(get(handles.Tip_Radius_edit, 'String'));
+r_axis = str2double(get(handles.Axis_Radius_edit, 'String'));
+l_cam = str2double(get(handles.Length_edit, 'String'));
+
+[xy_data]=Extr_Data_Cam_Circles(r_tip, r_axis, l_cam, 0, 0);
+plot([xy_data(:,1);xy_data(1,1)],[xy_data(:,2);xy_data(1,2)])
+t_h=get(gca,'Title');
+set(t_h,'String','');
+axis equal
+
+
+
+
+
+% --------------------------------------------------------------------
+function FileMenu_Callback(hObject, eventdata, handles)
+% hObject handle to FileMenu (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+
+% --------------------------------------------------------------------
+function OpenMenuItem_Callback(hObject, eventdata, handles)
+% hObject handle to OpenMenuItem (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+file = uigetfile('*.fig');
+if ~isequal(file, 0)
+ open(file);
+end
+
+% --------------------------------------------------------------------
+function PrintMenuItem_Callback(hObject, eventdata, handles)
+% hObject handle to PrintMenuItem (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+printdlg(handles.figure1)
+
+% --------------------------------------------------------------------
+function CloseMenuItem_Callback(hObject, eventdata, handles)
+% hObject handle to CloseMenuItem (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+selection = questdlg(['Close ' get(handles.figure1,'Name') '?'],...
+ ['Close ' get(handles.figure1,'Name') '...'],...
+ 'Yes','No','Yes');
+if strcmp(selection,'No')
+ return;
+end
+
+delete(handles.figure1)
+
+
+% --- Executes on selection change in popupmenu1.
+function popupmenu1_Callback(hObject, eventdata, handles)
+% hObject handle to popupmenu1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: contents = get(hObject,'String') returns popupmenu1 contents as cell array
+% contents{get(hObject,'Value')} returns selected item from popupmenu1
+
+
+% --- Executes during object creation, after setting all properties.
+function popupmenu1_CreateFcn(hObject, eventdata, handles)
+% hObject handle to popupmenu1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles empty - handles not created until after all CreateFcns called
+
+% Hint: popupmenu controls usually have a white background on Windows.
+% See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+
+set(hObject, 'String', {'plot(rand(5))', 'plot(sin(1:0.01:25))', 'bar(1:.5:10)', 'plot(membrane)', 'surf(peaks)'});
+
+
+
+function Tip_Radius_edit_Callback(hObject, eventdata, handles)
+% hObject handle to Tip_Radius_edit (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of Tip_Radius_edit as text
+% str2double(get(hObject,'String')) returns contents of Tip_Radius_edit as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function Tip_Radius_edit_CreateFcn(hObject, eventdata, handles)
+% hObject handle to Tip_Radius_edit (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles empty - handles not created until after all CreateFcns called
+
+% Hint: edit controls usually have a white background on Windows.
+% See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+
+
+
+function Axis_Radius_edit_Callback(hObject, eventdata, handles)
+% hObject handle to Axis_Radius_edit (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of Axis_Radius_edit as text
+% str2double(get(hObject,'String')) returns contents of Axis_Radius_edit as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function Axis_Radius_edit_CreateFcn(hObject, eventdata, handles)
+% hObject handle to Axis_Radius_edit (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles empty - handles not created until after all CreateFcns called
+
+% Hint: edit controls usually have a white background on Windows.
+% See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+
+
+
+function Height_edit_Callback(hObject, eventdata, handles)
+% hObject handle to Height_text (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of Height_text as text
+% str2double(get(hObject,'String')) returns contents of Height_text as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function Height_text_CreateFcn(hObject, eventdata, handles)
+% hObject handle to Height_text (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles empty - handles not created until after all CreateFcns called
+
+% Hint: edit controls usually have a white background on Windows.
+% See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+
+
+% --- Executes on button press in Update_pushbutton.
+function Update_pushbutton_Callback(hObject, eventdata, handles)
+% hObject handle to Update_pushbutton (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+r_tip = str2double(get(handles.Tip_Radius_edit, 'String'));
+r_axis = str2double(get(handles.Axis_Radius_edit, 'String'));
+l_cam = str2double(get(handles.Length_edit, 'String'));
+evalin('base',['Cam_PARAM.Cam.Radius_rev = ' num2str(r_axis) ';']);
+evalin('base',['Cam_PARAM.Cam.Radius_tip = ' num2str(r_tip) ';']); % cm
+evalin('base',['Cam_PARAM.Cam.Dist_ctrs = ' num2str(l_cam) ';']); % cm
+evalin('base',['Cam_PARAM.Cam.Theta1 = acos((Cam_PARAM.Cam.Radius_rev-Cam_PARAM.Cam.Radius_tip)/Cam_PARAM.Cam.Dist_ctrs)*180/pi;']);
+
+
+set_param(bdroot,'SimulationCommand','Update')
+
+function Length_edit_Callback(hObject, eventdata, handles)
+% hObject handle to Length_edit (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of Length_edit as text
+% str2double(get(hObject,'String')) returns contents of Length_edit as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function Length_edit_CreateFcn(hObject, eventdata, handles)
+% hObject handle to Length_edit (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles empty - handles not created until after all CreateFcns called
+
+% Hint: edit controls usually have a white background on Windows.
+% See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
diff --git a/Examples/2D/Cam_Follower_Constraint/Cam_Follower_Constraint.slx b/Examples/2D/Cam_Follower_Constraint/Cam_Follower_Constraint.slx
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diff --git a/Examples/2D/Cam_Follower_Constraint/Cam_Follower_Constraint_plot1height.m b/Examples/2D/Cam_Follower_Constraint/Cam_Follower_Constraint_plot1height.m
new file mode 100644
index 0000000..929aace
--- /dev/null
+++ b/Examples/2D/Cam_Follower_Constraint/Cam_Follower_Constraint_plot1height.m
@@ -0,0 +1,49 @@
+% Code to plot simulation results from Cam_Follower_Constraint
+%% Plot Description:
+%
+% The plot below shows the height of the follower and the torque applied at
+% the cam.
+%
+% Copyright 2017-2018 The MathWorks, Inc.
+
+% Generate simulation results if they don't exist
+if ~exist('simlog_Cam_Follower_Constraint', 'var')
+ sim('Cam_Follower_Constraint')
+end
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h1_Cam_Follower_Constraint', 'var') || ...
+ ~isgraphics(h1_Cam_Follower_Constraint, 'figure')
+ h1_Cam_Follower_Constraint = figure('Name', 'Cam_Follower_Constraint');
+end
+figure(h1_Cam_Follower_Constraint)
+clf(h1_Cam_Follower_Constraint)
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+% Get simulation results
+simlog_t = simlog_Cam_Follower_Constraint.Prismatic_Follower.Pz.p.series.time;
+simlog_zF = simlog_Cam_Follower_Constraint.Prismatic_Follower.Pz.p.series.values('m');
+simlog_trqCam = logsout_Cam_Follower_Constraint.get('actuator_torque_cam');
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+plot(simlog_t, simlog_zF, 'LineWidth', 1)
+hold off
+grid on
+title('Follower Height')
+ylabel('Height (m)')
+
+simlog_handles(2) = subplot(2, 1, 2);
+plot(simlog_trqCam.Values.Time, simlog_trqCam.Values.Data, 'LineWidth', 1)
+grid on
+title('Cam Actuator Torque')
+ylabel('Torque (N*m)')
+xlabel('Time (s)')
+
+linkaxes(simlog_handles, 'x')
+
+% Remove temporary variables
+clear simlog_t simlog_handles temp_colororder
+clear simlog_zF simlog_trqCam
+
diff --git a/Examples/2D/Conveyor_Belts/Belts_01_Two_Belts.slx b/Examples/2D/Conveyor_Belts/Belts_01_Two_Belts.slx
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--- /dev/null
+++ b/Examples/2D/Geneva_Drive/CAD/Export/Geneva_Drive_XML.xml
@@ -0,0 +1,178 @@
+
+
+
diff --git a/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Dpin_GSlot_Help_IMAGE.png b/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Dpin_GSlot_Help_IMAGE.png
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@@ -0,0 +1,14 @@
+
+
+
+
+
+
+
diff --git a/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Forces_Help_IMAGE.png b/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Forces_Help_IMAGE.png
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@@ -0,0 +1,14 @@
+
+
+
+
+
+
+
diff --git a/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Shld_Garc_Help_IMAGE.png b/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Shld_Garc_Help_IMAGE.png
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@@ -0,0 +1,14 @@
+
+
+
+
+
+
+
diff --git a/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Shld_Gtip_Help_IMAGE.png b/Examples/2D/Geneva_Drive/Help/Geneva_Drive_Contact_Shld_Gtip_Help_IMAGE.png
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diff --git a/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane.slx b/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane.slx
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diff --git a/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane_plot1ballpos.m b/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane_plot1ballpos.m
new file mode 100644
index 0000000..c1abf46
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane_plot1ballpos.m
@@ -0,0 +1,30 @@
+% Code to plot simulation results from Collision_01_Ball_Infinite_Plane
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_01_Ball_Infinite_Plane)
+catch
+ h1_Collision_01_Ball_Infinite_Plane=figure('Name','Collision_01_Ball_Infinite_Plane');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_01_Ball_Infinite_Plane','var'))
+ sim('Collision_01_Ball_Infinite_Plane')
+end
+
+% Get simulation results
+temp_bpx = simlog_Collision_01_Ball_Infinite_Plane.Planar_Joint.Px.p.series.values;
+temp_bpy = simlog_Collision_01_Ball_Infinite_Plane.Planar_Joint.Py.p.series.values;
+
+% Plot results
+plot(temp_bpy,temp_bpx,'LineWidth',1);
+grid on
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Ball Position (m)');
+
+% Remove temporary variables
+clear temp_bpx temp_bpy
+
diff --git a/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane_plot2contactfrc.m b/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane_plot2contactfrc.m
new file mode 100644
index 0000000..a3fffb3
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_01_Ball_Infinite_Plane_plot2contactfrc.m
@@ -0,0 +1,30 @@
+% Code to plot simulation results from Collision_01_Ball_Infinite_Plane
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h2_Collision_01_Ball_Infinite_Plane)
+catch
+ h2_Collision_01_Ball_Infinite_Plane=figure('Name','Collision_01_Ball_Infinite_Plane');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_01_Ball_Infinite_Plane','var'))
+ sim('Collision_01_Ball_Infinite_Plane')
+end
+
+% Get simulation results
+simlog_t = simlog_Collision_01_Ball_Infinite_Plane.Translational_Simscape_Interface.Ideal_Force_Sensor.F.series.time;
+simlog_fn = simlog_Collision_01_Ball_Infinite_Plane.Translational_Simscape_Interface.Ideal_Force_Sensor.F.series.values('N');
+
+% Plot results
+plot(simlog_t,simlog_fn,'LineWidth',1);
+grid on
+ylabel('Force (N)');
+title('Contact Force (m)');
+xlabel('Time (s)');
+
+% Remove temporary variables
+clear simlog_t simlog_fn
+
diff --git a/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed.slx b/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed.slx
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diff --git a/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed_plot1ballpos.m b/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed_plot1ballpos.m
new file mode 100644
index 0000000..9314c81
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed_plot1ballpos.m
@@ -0,0 +1,30 @@
+% Code to plot simulation results from Collision_02_Disk_Finite_Plane_Fixed
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_02_Disk_Finite_Plane_Fixed)
+catch
+ h1_Collision_02_Disk_Finite_Plane_Fixed=figure('Name','Collision_02_Disk_Finite_Plane_Fixed');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_02_Disk_Finite_Plane_Fixed','var'))
+ sim('Collision_02_Disk_Finite_Plane_Fixed')
+end
+
+% Get simulation results
+temp_bpx = simlog_Collision_02_Disk_Finite_Plane_Fixed.Planar_Joint.Px.p.series;
+temp_bpy = simlog_Collision_02_Disk_Finite_Plane_Fixed.Planar_Joint.Py.p.series;
+
+% Plot results
+plot(temp_bpy.values,temp_bpx.values,'LineWidth',1);
+grid on
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Ball Position (m)');
+
+% Remove temporary variables
+clear temp_bpx temp_bpy
+
diff --git a/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed_plot2contactfrc.m b/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed_plot2contactfrc.m
new file mode 100644
index 0000000..bef3454
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_02_Disk_Finite_Plane_Fixed_plot2contactfrc.m
@@ -0,0 +1,29 @@
+% Code to plot simulation results from Collision_02_Disk_Finite_Plane_Fixed
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h2_Collision_02_Disk_Finite_Plane_Fixed)
+catch
+ h2_Collision_02_Disk_Finite_Plane_Fixed=figure('Name','Collision_02_Disk_Finite_Plane_Fixed');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_02_Disk_Finite_Plane_Fixed','var'))
+ sim('Collision_02_Disk_Finite_Plane_Fixed')
+end
+
+% Get simulation results
+simlog_fn = logsout_Collision_02_Disk_Finite_Plane_Fixed.get('Contact_Force');
+
+% Plot results
+plot(simlog_fn.Values.Time,simlog_fn.Values.Data,'LineWidth',1);
+grid on
+ylabel('Force (N)');
+title('Contact Force (m)');
+xlabel('Time (s)');
+
+% Remove temporary variables
+clear simlog_fn
+
diff --git a/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin.slx b/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin.slx
new file mode 100644
index 0000000..7739fe8
Binary files /dev/null and b/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin.slx differ
diff --git a/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin_plot1ballpos.m b/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin_plot1ballpos.m
new file mode 100644
index 0000000..8f5c0ba
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin_plot1ballpos.m
@@ -0,0 +1,29 @@
+% Code to plot simulation results from Collision_03_Disk_Finite_Plane_Spin
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_03_Disk_Finite_Plane_Spin)
+catch
+ h1_Collision_03_Disk_Finite_Plane_Spin=figure('Name','Collision_03_Disk_Finite_Plane_Spin');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_03_Disk_Finite_Plane_Spin','var'))
+ sim('Collision_03_Disk_Finite_Plane_Spin')
+end
+
+% Get simulation results
+temp_bxyz = logsout_Collision_03_Disk_Finite_Plane_Spin.get('Ball_xyz');
+
+% Plot results
+plot(temp_bxyz.Values.Data(:,1),temp_bxyz.Values.Data(:,3),'LineWidth',1);
+grid on
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Ball Position (m)');
+
+% Remove temporary variables
+clear temp_bxyz
+
diff --git a/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin_plot2contactfrc.m b/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin_plot2contactfrc.m
new file mode 100644
index 0000000..9915c1c
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_03_Disk_Finite_Plane_Spin_plot2contactfrc.m
@@ -0,0 +1,29 @@
+% Code to plot simulation results from Collision_03_Disk_Finite_Plane_Spin
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h2_Collision_03_Disk_Finite_Plane_Spin)
+catch
+ h2_Collision_03_Disk_Finite_Plane_Spin=figure('Name','Collision_03_Disk_Finite_Plane_Spin');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_03_Disk_Finite_Plane_Spin','var'))
+ sim('Collision_03_Disk_Finite_Plane_Spin')
+end
+
+% Get simulation results
+simlog_fn = logsout_Collision_03_Disk_Finite_Plane_Spin.get('Contact_Force');
+
+% Plot results
+plot(simlog_fn.Values.Time,simlog_fn.Values.Data,'LineWidth',1);
+grid on
+ylabel('Force (N)');
+title('Contact Force (m)');
+xlabel('Time (s)');
+
+% Remove temporary variables
+clear simlog_fn
+
diff --git a/Examples/2D/Simple/Collision/Collision_04_Disks_in_Box.slx b/Examples/2D/Simple/Collision/Collision_04_Disks_in_Box.slx
new file mode 100644
index 0000000..00b7a57
Binary files /dev/null and b/Examples/2D/Simple/Collision/Collision_04_Disks_in_Box.slx differ
diff --git a/Examples/2D/Simple/Collision/Collision_04_Disks_in_Box_plot1diskpos.m b/Examples/2D/Simple/Collision/Collision_04_Disks_in_Box_plot1diskpos.m
new file mode 100644
index 0000000..36aafc6
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_04_Disks_in_Box_plot1diskpos.m
@@ -0,0 +1,53 @@
+% Code to plot simulation results from Collision_04_Disks_in_Box
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_04_Disks_in_Box)
+catch
+ h1_Collision_04_Disks_in_Box=figure('Name','Collision_04_Disks_in_Box');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_04_Disks_in_Box','var'))
+ sim('Collision_04_Disks_in_Box')
+end
+
+% Get simulation results
+simlog_d1x = simlog_Collision_04_Disks_in_Box.Planar_Joint_Disk1.Px.p.series.values;
+simlog_d1y = simlog_Collision_04_Disks_in_Box.Planar_Joint_Disk1.Py.p.series.values;
+simlog_d2x = simlog_Collision_04_Disks_in_Box.Planar_Joint_Disk2.Px.p.series.values;
+simlog_d2y = simlog_Collision_04_Disks_in_Box.Planar_Joint_Disk2.Py.p.series.values;
+simlog_d3x = simlog_Collision_04_Disks_in_Box.Planar_Joint_Disk3.Px.p.series.values;
+simlog_d3y = simlog_Collision_04_Disks_in_Box.Planar_Joint_Disk3.Py.p.series.values;
+
+% Plot results
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+plot(simlog_d1y,simlog_d1x,'LineWidth',1);
+hold on
+plot(simlog_d2y,simlog_d2x,'LineWidth',1);
+plot(simlog_d3y,simlog_d3x,'LineWidth',1);
+plot([-1 1 1 -1 -1 1]*0.5,[-1 -1 1 1 -1 -1]*0.5,'Color',[0.5 0.5 0.5],'LineWidth',5);
+patch(sin(0:0.1:2*pi)*0.05+simlog_d1y(1),cos(0:0.1:2*pi)*0.05+simlog_d1x(1),temp_colorOrder(1,:),'FaceAlpha',0.2)
+patch(sin(0:0.1:2*pi)*0.05+simlog_d2y(1),cos(0:0.1:2*pi)*0.05+simlog_d2x(1),temp_colorOrder(2,:),'FaceAlpha',0.2)
+patch(sin(0:0.1:2*pi)*0.05+simlog_d3y(1),cos(0:0.1:2*pi)*0.05+simlog_d3x(1),temp_colorOrder(3,:),'FaceAlpha',0.2)
+
+patch(sin(0:0.1:2*pi)*0.05+simlog_d1y(end),cos(0:0.1:2*pi)*0.05+simlog_d1x(end),temp_colorOrder(1,:))
+patch(sin(0:0.1:2*pi)*0.05+simlog_d2y(end),cos(0:0.1:2*pi)*0.05+simlog_d2x(end),temp_colorOrder(2,:))
+patch(sin(0:0.1:2*pi)*0.05+simlog_d3y(end),cos(0:0.1:2*pi)*0.05+simlog_d3x(end),temp_colorOrder(3,:))
+
+hold off
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Disk Position (m)');
+axis equal
+axis square
+axis([-1 1 -1 1]*0.6)
+
+% Remove temporary variables
+clear simlog_d1y simlog_d1x temp_colorOrder
+clear simlog_d2y simlog_d2x
+clear simlog_d3y simlog_d3x
+
+
diff --git a/Examples/2D/Simple/Collision/Collision_05_Disk_in_Ring.slx b/Examples/2D/Simple/Collision/Collision_05_Disk_in_Ring.slx
new file mode 100644
index 0000000..5d775d3
Binary files /dev/null and b/Examples/2D/Simple/Collision/Collision_05_Disk_in_Ring.slx differ
diff --git a/Examples/2D/Simple/Collision/Collision_05_Disk_in_Ring_plot1diskpos.m b/Examples/2D/Simple/Collision/Collision_05_Disk_in_Ring_plot1diskpos.m
new file mode 100644
index 0000000..6db1d3b
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_05_Disk_in_Ring_plot1diskpos.m
@@ -0,0 +1,41 @@
+% Code to plot simulation results from Collision_05_Disk_in_Ring
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_05_Disk_in_Ring)
+catch
+ h1_Collision_05_Disk_in_Ring=figure('Name','Collision_05_Disk_in_Ring');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_05_Disk_in_Ring','var'))
+ sim('Collision_05_Disk_in_Ring')
+end
+
+% Get simulation results
+simlog_d1x = simlog_Collision_05_Disk_in_Ring.Planar_Joint.Px.p.series.values;
+simlog_d1y = simlog_Collision_05_Disk_in_Ring.Planar_Joint.Py.p.series.values;
+
+% Plot results
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+plot(simlog_d1x,simlog_d1y,'Color',temp_colorOrder(2,:),'LineWidth',1);
+hold on
+plot(sin(0:0.1:2.2*pi)*0.21,cos(0:0.1:2.2*pi)*0.21,'Color',[0.5 0.5 0.5],'LineWidth',5);
+patch(sin(0:0.1:2*pi)*0.05+simlog_d1x(1),cos(0:0.1:2*pi)*0.05+simlog_d1y(1),temp_colorOrder(2,:),'FaceAlpha',0.2)
+patch(sin(0:0.1:2*pi)*0.05+simlog_d1x(end),cos(0:0.1:2*pi)*0.05+simlog_d1y(end),temp_colorOrder(2,:))
+
+hold off
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Disk Position (m)');
+axis equal
+axis square
+axis([-1 1 -1 1]*0.25)
+
+% Remove temporary variables
+clear simlog_d1y simlog_d1x temp_colorOrder
+
+
+
diff --git a/Examples/2D/Simple/Collision/Collision_06_Catapult.slx b/Examples/2D/Simple/Collision/Collision_06_Catapult.slx
new file mode 100644
index 0000000..e46572c
Binary files /dev/null and b/Examples/2D/Simple/Collision/Collision_06_Catapult.slx differ
diff --git a/Examples/2D/Simple/Collision/Collision_06_Catapult_plot1diskpos.m b/Examples/2D/Simple/Collision/Collision_06_Catapult_plot1diskpos.m
new file mode 100644
index 0000000..5a3ba1d
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_06_Catapult_plot1diskpos.m
@@ -0,0 +1,39 @@
+% Code to plot simulation results from Collision_06_Catapult
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_06_Catapult)
+catch
+ h1_Collision_06_Catapult=figure('Name','Collision_06_Catapult');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_06_Catapult','var'))
+ sim('Collision_06_Catapult')
+end
+
+% Get simulation results
+temp_bxyz = logsout_Collision_06_Catapult.get('Disk_xyz');
+
+% Plot results
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+plot(temp_bxyz.Values.Data(:,1),temp_bxyz.Values.Data(:,3),'LineWidth',1);
+hold on
+plot([-0.50 1 1],[0 0 1]-0.15,'Color',[1 1 1]*0.5,'LineWidth',3);
+patch(sin(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(1,1),cos(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(1,3),temp_colorOrder(1,:),'FaceAlpha',0.2)
+patch(sin(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(end,1),cos(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(end,3),temp_colorOrder(1,:))
+hold off
+
+grid on
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Disk Position (m)');
+
+%axis square
+axis equal
+
+% Remove temporary variables
+clear temp_bxyz
+
diff --git a/Examples/2D/Simple/Collision/Collision_07_Ball_Finite_Plane_Float.slx b/Examples/2D/Simple/Collision/Collision_07_Ball_Finite_Plane_Float.slx
new file mode 100644
index 0000000..e4ecf91
Binary files /dev/null and b/Examples/2D/Simple/Collision/Collision_07_Ball_Finite_Plane_Float.slx differ
diff --git a/Examples/2D/Simple/Collision/Collision_07_Ball_Finite_Plane_Float_plot1diskpos.m b/Examples/2D/Simple/Collision/Collision_07_Ball_Finite_Plane_Float_plot1diskpos.m
new file mode 100644
index 0000000..1881959
--- /dev/null
+++ b/Examples/2D/Simple/Collision/Collision_07_Ball_Finite_Plane_Float_plot1diskpos.m
@@ -0,0 +1,52 @@
+% Code to plot simulation results from Collision_07_Ball_Finite_Plane_Float
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Collision_07_Ball_Finite_Plane_Float)
+catch
+ h1_Collision_07_Ball_Finite_Plane_Float=figure('Name','Collision_07_Ball_Finite_Plane_Float');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Collision_07_Ball_Finite_Plane_Float','var'))
+ sim('Collision_07_Ball_Finite_Plane_Float')
+end
+
+% Get simulation results
+simlog_plax = simlog_Collision_07_Ball_Finite_Plane_Float.Planar_Joint_Plane.Px.p.series.values;
+simlog_play = simlog_Collision_07_Ball_Finite_Plane_Float.Planar_Joint_Plane.Py.p.series.values;
+simlog_plarz = simlog_Collision_07_Ball_Finite_Plane_Float.Planar_Joint_Plane.Rz.q.series.values('rad');
+
+temp_bxyz = logsout_Collision_07_Ball_Finite_Plane_Float.get('Ball_xyz');
+
+% Plot results
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+patch(sin(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(1,1),cos(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(1,3),temp_colorOrder(2,:),'FaceAlpha',0.2)
+hold on
+plot([simlog_plax(1)-0.5*cos(simlog_plarz(1)) simlog_plax(1)+0.5*cos(simlog_plarz(1))],...
+ [simlog_play(1)-0.5*sin(simlog_plarz(1)) simlog_play(1)+0.5*sin(simlog_plarz(1))],...
+ 'Color',[1 1 1]*0.7,'LineWidth',5);
+plot(simlog_plax,simlog_play,'Color',[1 1 1]*0.7,'LineWidth',1);
+plot([simlog_plax(end)-0.5*cos(simlog_plarz(end)) simlog_plax(end)+0.5*cos(simlog_plarz(end))],...
+ [simlog_play(end)-0.5*sin(simlog_plarz(end)) simlog_play(end)+0.5*sin(simlog_plarz(end))],...
+ 'Color',[1 1 1]*0.2,'LineWidth',5);
+plot(temp_bxyz.Values.Data(:,1),temp_bxyz.Values.Data(:,3),'Color',temp_colorOrder(2,:),'LineWidth',1);
+
+patch(sin(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(end,1),cos(0:0.1:2*pi)*0.05+temp_bxyz.Values.Data(end,3),temp_colorOrder(2,:))
+
+hold off
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Position of Disk and Plane');
+grid on
+axis square
+axis equal
+
+% Remove temporary variables
+clear simlog_plax simlog_play simlog_plarz
+clear temp_bxyz temp_colorOrder
+
+
+
diff --git a/Examples/2D/Simple/Collision/Collision_08_Compare_Forces.slx b/Examples/2D/Simple/Collision/Collision_08_Compare_Forces.slx
new file mode 100644
index 0000000..c656723
Binary files /dev/null and b/Examples/2D/Simple/Collision/Collision_08_Compare_Forces.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_01_Box_on_Ramp_Constraint.slx b/Examples/2D/Simple/Friction/Friction_01_Box_on_Ramp_Constraint.slx
new file mode 100644
index 0000000..72cf858
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_01_Box_on_Ramp_Constraint.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_01_Box_on_Ramp_Constraint_plot1boxvel.m b/Examples/2D/Simple/Friction/Friction_01_Box_on_Ramp_Constraint_plot1boxvel.m
new file mode 100644
index 0000000..0082d5d
--- /dev/null
+++ b/Examples/2D/Simple/Friction/Friction_01_Box_on_Ramp_Constraint_plot1boxvel.m
@@ -0,0 +1,40 @@
+% Code to plot simulation results from Friction_01_Box_on_Ramp_Constraint
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Friction_01_Box_on_Ramp_Constraint)
+catch
+ h1_Friction_01_Box_on_Ramp_Constraint=figure('Name','Friction_01_Box_on_Ramp_Constraint');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Friction_01_Box_on_Ramp_Constraint','var'))
+ sim('Friction_01_Box_on_Ramp_Constraint')
+end
+
+% Get simulation results
+simlog_t = simlog_Friction_01_Box_on_Ramp_Constraint.Revolute_Joint.Rz.q.series.time;
+simlog_qRamp = simlog_Friction_01_Box_on_Ramp_Constraint.Revolute_Joint.Rz.q.series.values('deg');
+simlog_vBox = simlog_Friction_01_Box_on_Ramp_Constraint.Prismatic_Joint.Pz.v.series.values('m/s');
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+plot(simlog_t, simlog_qRamp, 'LineWidth', 1)
+grid on
+ylabel('Angle (deg)');
+title('Box on Ramp, Constraints: Ramp Angle');
+
+simlog_handles(2) = subplot(2, 1, 2);
+plot(simlog_t, simlog_vBox, 'LineWidth', 1)
+grid on
+ylabel('Speed (m/s)');
+title('Box on Ramp, Constraints: Box Velocity');
+xlabel('Time (s)');
+
+linkaxes(simlog_handles, 'x')
+
+% Remove temporary variables
+clear simlog_t simlog_qRamp simlog_vBox simlog_handles
+
diff --git a/Examples/2D/Simple/Friction/Friction_02_Box_on_Ramp.slx b/Examples/2D/Simple/Friction/Friction_02_Box_on_Ramp.slx
new file mode 100644
index 0000000..519cff7
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_02_Box_on_Ramp.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_02_Box_on_Ramp_plot1boxvel.m b/Examples/2D/Simple/Friction/Friction_02_Box_on_Ramp_plot1boxvel.m
new file mode 100644
index 0000000..27658ff
--- /dev/null
+++ b/Examples/2D/Simple/Friction/Friction_02_Box_on_Ramp_plot1boxvel.m
@@ -0,0 +1,40 @@
+% Code to plot simulation results from Friction_02_Box_on_Ramp
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Friction_02_Box_on_Ramp)
+catch
+ h1_Friction_02_Box_on_Ramp=figure('Name','Friction_02_Box_on_Ramp');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Friction_02_Box_on_Ramp','var'))
+ sim('Friction_02_Box_on_Ramp')
+end
+
+% Get simulation results
+simlog_t = simlog_Friction_02_Box_on_Ramp.Revolute_Joint.Rz.q.series.time;
+simlog_qRamp = simlog_Friction_02_Box_on_Ramp.Revolute_Joint.Rz.q.series.values('deg');
+simlog_vBox = simlog_Friction_02_Box_on_Ramp.Planar_Joint.Py.v.series.values('m/s');
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+plot(simlog_t, simlog_qRamp, 'LineWidth', 1)
+grid on
+ylabel('Angle (deg)');
+title('Box on Ramp, Contact Forces: Ramp Angle');
+
+simlog_handles(2) = subplot(2, 1, 2);
+plot(simlog_t, simlog_vBox, 'LineWidth', 1)
+grid on
+ylabel('Speed (m/s)');
+title('Box on Ramp, Contact Forces: Box Velocity');
+xlabel('Time (s)');
+
+linkaxes(simlog_handles, 'x')
+
+% Remove temporary variables
+clear simlog_t simlog_qRamp simlog_vBox simlog_handles
+
diff --git a/Examples/2D/Simple/Friction/Friction_03_Double_Pendulum_Constraint.slx b/Examples/2D/Simple/Friction/Friction_03_Double_Pendulum_Constraint.slx
new file mode 100644
index 0000000..cea5b0b
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_03_Double_Pendulum_Constraint.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_03_Double_Pendulum_Constraint_plot1jointq.m b/Examples/2D/Simple/Friction/Friction_03_Double_Pendulum_Constraint_plot1jointq.m
new file mode 100644
index 0000000..77c84e9
--- /dev/null
+++ b/Examples/2D/Simple/Friction/Friction_03_Double_Pendulum_Constraint_plot1jointq.m
@@ -0,0 +1,40 @@
+% Code to plot simulation results from Friction_03_Double_Pendulum_Constraint
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Friction_03_Double_Pendulum_Constraint)
+catch
+ h1_Friction_03_Double_Pendulum_Constraint=figure('Name','Friction_03_Double_Pendulum_Constraint');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Friction_03_Double_Pendulum_Constraint','var'))
+ sim('Friction_03_Double_Pendulum_Constraint')
+end
+
+% Get simulation results
+simlog_t = simlog_Friction_03_Double_Pendulum_Constraint.Revolute_BaseArm1.Rz.q.series.time;
+simlog_qArm1 = simlog_Friction_03_Double_Pendulum_Constraint.Revolute_BaseArm1.Rz.q.series.values('deg');
+simlog_wArm1Arm2 = simlog_Friction_03_Double_Pendulum_Constraint.Revolute_Arm1Arm2.Rz.w.series.values('deg/s');
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+plot(simlog_t, simlog_qArm1, 'LineWidth', 1)
+grid on
+ylabel('Angle (deg)');
+title('Angle of Arm 1');
+
+simlog_handles(2) = subplot(2, 1, 2);
+plot(simlog_t, simlog_wArm1Arm2, 'LineWidth', 1)
+grid on
+ylabel('Speed (deg/s)');
+title('Rotational Speed of Arm1-Arm2 Joint');
+xlabel('Time (s)');
+
+linkaxes(simlog_handles, 'x')
+
+% Remove temporary variables
+clear simlog_t simlog_qArm1 simlog_wArm1Arm2 simlog_handles
+
diff --git a/Examples/2D/Simple/Friction/Friction_04_Disk_Rolling_on_Ramp.slx b/Examples/2D/Simple/Friction/Friction_04_Disk_Rolling_on_Ramp.slx
new file mode 100644
index 0000000..2c70031
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_04_Disk_Rolling_on_Ramp.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_04_Disk_Rolling_on_Ramp_plot1diskpos.m b/Examples/2D/Simple/Friction/Friction_04_Disk_Rolling_on_Ramp_plot1diskpos.m
new file mode 100644
index 0000000..8ae9bde
--- /dev/null
+++ b/Examples/2D/Simple/Friction/Friction_04_Disk_Rolling_on_Ramp_plot1diskpos.m
@@ -0,0 +1,58 @@
+% Code to plot simulation results from Friction_04_Disk_Rolling_on_Ramp
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Friction_04_Disk_Rolling_on_Ramp)
+catch
+ h1_Friction_04_Disk_Rolling_on_Ramp=figure('Name','Friction_04_Disk_Rolling_on_Ramp');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Friction_04_Disk_Rolling_on_Ramp','var'))
+ sim('Friction_04_Disk_Rolling_on_Ramp')
+end
+
+% Get simulation results
+temp_bxyz = logsout_Friction_04_Disk_Rolling_on_Ramp.get('Disk_xyz');
+temp_trq = logsout_Friction_04_Disk_Rolling_on_Ramp.get('Input_Torque');
+simlog_t = simlog_Friction_04_Disk_Rolling_on_Ramp.Planar_Joint.Rz.w.series.time;
+simlog_wDisk = simlog_Friction_04_Disk_Rolling_on_Ramp.Planar_Joint.Rz.w.series.values('rev/s');
+
+temp_wksp = get_param('Friction_04_Disk_Rolling_on_Ramp','ModelWorkspace');
+temp_floor = getVariable(temp_wksp,'Floor');
+
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+cla
+patch(sin(0:0.1:2*pi)*0.2+temp_bxyz.Values.Data(1,1),cos(0:0.1:2*pi)*0.2+temp_bxyz.Values.Data(1,3),temp_colorOrder(1,:),'FaceAlpha',0.2);
+hold on
+plot(temp_bxyz.Values.Data(:,1),temp_bxyz.Values.Data(:,3),'LineWidth',1);
+patch(sin(0:0.1:2*pi)*0.2+temp_bxyz.Values.Data(end,1),cos(0:0.1:2*pi)*0.2+temp_bxyz.Values.Data(end,3),temp_colorOrder(1,:))
+plot([-1 1]*temp_floor.length*0.5*cosd(temp_floor.angle),...
+ [1 -1]*temp_floor.length*0.5*sind(-10),...
+ 'Color',[1 1 1]*0.5,'LineWidth',3);
+hold off
+xlabel('Horizontal Position (m)');
+ylabel('Vertical Position (m)');
+title('Disk Position (m)');
+axis equal
+
+simlog_handles(2) = subplot(2, 1, 2);
+yyaxis left
+plot(simlog_t,simlog_wDisk,'LineWidth',1);
+ylabel('Speed (rev/s)');
+yyaxis right
+grid on
+plot(temp_trq.Values.Time,temp_trq.Values.Data,'LineWidth',1);
+xlabel('Time (s)');
+ylabel('Torque (N*m)');
+title('Input Torque');
+
+% Remove temporary variables
+clear temp_bxyz temp_wksp temp_trq temp_floor temp_colorOrder
+clear simlog_t simlog_handles simlog_wDisk
+
diff --git a/Examples/2D/Simple/Friction/Friction_05_Beam_on_Wheel.slx b/Examples/2D/Simple/Friction/Friction_05_Beam_on_Wheel.slx
new file mode 100644
index 0000000..413e128
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_05_Beam_on_Wheel.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_06_Disk_on_Disk.slx b/Examples/2D/Simple/Friction/Friction_06_Disk_on_Disk.slx
new file mode 100644
index 0000000..aff0356
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_06_Disk_on_Disk.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_07_Floating_Disks.slx b/Examples/2D/Simple/Friction/Friction_07_Floating_Disks.slx
new file mode 100644
index 0000000..3826e22
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_07_Floating_Disks.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_08_Disks_and_Ring.slx b/Examples/2D/Simple/Friction/Friction_08_Disks_and_Ring.slx
new file mode 100644
index 0000000..ad82162
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_08_Disks_and_Ring.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_09_Ring_on_Disk_Float.slx b/Examples/2D/Simple/Friction/Friction_09_Ring_on_Disk_Float.slx
new file mode 100644
index 0000000..6e1052d
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_09_Ring_on_Disk_Float.slx differ
diff --git a/Examples/2D/Simple/Friction/Friction_10_Ball_on_Wheel.slx b/Examples/2D/Simple/Friction/Friction_10_Ball_on_Wheel.slx
new file mode 100644
index 0000000..923d3e5
Binary files /dev/null and b/Examples/2D/Simple/Friction/Friction_10_Ball_on_Wheel.slx differ
diff --git a/Examples/2D/Spinning_Boxes/Spinning_Boxes.slx b/Examples/2D/Spinning_Boxes/Spinning_Boxes.slx
new file mode 100644
index 0000000..6775e76
Binary files /dev/null and b/Examples/2D/Spinning_Boxes/Spinning_Boxes.slx differ
diff --git a/Examples/2D/Spinning_Boxes/Spinning_Boxes_plot1boxpos.m b/Examples/2D/Spinning_Boxes/Spinning_Boxes_plot1boxpos.m
new file mode 100644
index 0000000..2e7bec5
--- /dev/null
+++ b/Examples/2D/Spinning_Boxes/Spinning_Boxes_plot1boxpos.m
@@ -0,0 +1,35 @@
+% Code to plot simulation results from Spinning_Boxes
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Spinning_Boxes)
+catch
+ h1_Spinning_Boxes=figure('Name','Spinning_Boxes');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Spinning_Boxes','var'))
+ sim('Spinning_Boxes')
+end
+
+% Get simulation results
+simlog_t = simlog_Spinning_Boxes.Prismatic_Joint.Pz.p.series.time;
+simlog_hFlBox = simlog_Spinning_Boxes.Prismatic_Joint.Pz.p.series.values('m');
+
+% Plot results
+temp_colorOrder = get(gca,'DefaultAxesColorOrder');
+plot(simlog_t,simlog_hFlBox,'Color',temp_colorOrder(2,:),'LineWidth',1);
+grid on
+
+title('Height of Floating Box');
+ylabel('Height (m)');
+xlabel('Time (s)');
+
+% Remove temporary variables
+clear simlog_t simlog_qDr simlog_qGe
+clear simlog_hFlBox
+
+
+
diff --git a/Examples/3D/Caster_4_Whl/Caster_4_Whl.slx b/Examples/3D/Caster_4_Whl/Caster_4_Whl.slx
new file mode 100644
index 0000000..0c4893d
Binary files /dev/null and b/Examples/3D/Caster_4_Whl/Caster_4_Whl.slx differ
diff --git a/Examples/3D/Caster_4_Whl/Caster_4_Whl_plot1pos.m b/Examples/3D/Caster_4_Whl/Caster_4_Whl_plot1pos.m
new file mode 100644
index 0000000..5621b8f
--- /dev/null
+++ b/Examples/3D/Caster_4_Whl/Caster_4_Whl_plot1pos.m
@@ -0,0 +1,60 @@
+% Code to plot simulation results from Caster_4_Whl
+%
+% Copyright 2015-2018 The MathWorks, Inc.
+
+% Reuse figure if it exists, else create new figure
+try
+ figure(h1_Caster_4_Whl)
+catch
+ h1_Caster_4_Whl=figure('Name','Caster_4_Whl');
+end
+
+% Generate simulation results if they don't exist
+if(~exist('simlog_Caster_4_Whl','var'))
+ sim('Caster_4_Whl')
+end
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+% Get simulation results
+temp_cartxy = logsout_Caster_4_Whl.getElement('Cart xy').Values;
+temp_cartx = -temp_cartxy.Data(:,2);
+temp_carty = temp_cartxy.Data(:,1);
+
+temp_hWksp = get_param(bdroot,'ModelWorkspace');
+temp_table = temp_hWksp.getVariable('table');
+temp_platform = temp_hWksp.getVariable('platform');
+temp_axle = temp_hWksp.getVariable('axle');
+temp_wheel = temp_hWksp.getVariable('whl');
+
+%temp_xcir = sin(0:0.2:2*pi)*peg.rad;
+%temp_ycir = cos(0:0.2:2*pi)*peg.rad;
+
+% Plot board
+patch([-1 1 1 -1]*temp_table.length/2,[-1 -1 1 1]*temp_table.length/2,[1 1 1]*0.8);
+hold on
+
+% Plot robot path
+fill([-1 1 1 -1]*temp_platform.width/2+temp_cartx(1),...
+ [-1 -1 1 1]*temp_platform.length/2+temp_carty(1),...
+ [115 167 89]/200);
+plot(temp_cartx,temp_carty,'Color',[115 167 89]/255,'LineWidth',3);
+
+% Plot start and end points
+pt1_h = plot(temp_cartx(1),temp_carty(1),'kd',...
+ 'MarkerFaceColor',temp_colororder(1,:),'MarkerSize',8);
+pt2_h = plot(temp_cartx(end),temp_carty(end),'kd',...
+ 'MarkerFaceColor',temp_colororder(2,:),'MarkerSize',8);
+
+hold off
+
+box on
+axis([[-1 1]*temp_table.length/2 [-1 1]*temp_table.length/2]*1.1);
+axis equal
+title('Cart Path');
+ylabel('Position (m)');
+xlabel('Position (m)');
+legend([pt1_h pt2_h],{'Start','Finish'},'Location','Best');
+% Remove temporary variables
+clear temp_platform temp_cartxy temp_axle temp_table temp_hWksp temp_wheel
+
diff --git a/Examples/3D/Gripper_2Belts/Gripper_2Belts.slx b/Examples/3D/Gripper_2Belts/Gripper_2Belts.slx
new file mode 100644
index 0000000..e9602cf
Binary files /dev/null and b/Examples/3D/Gripper_2Belts/Gripper_2Belts.slx differ
diff --git a/Examples/3D/Gripper_2Belts/Gripper_2Belts_plot1boxposition.m b/Examples/3D/Gripper_2Belts/Gripper_2Belts_plot1boxposition.m
new file mode 100644
index 0000000..ef5f41f
--- /dev/null
+++ b/Examples/3D/Gripper_2Belts/Gripper_2Belts_plot1boxposition.m
@@ -0,0 +1,44 @@
+% Code to plot simulation results from Gripper_2Belts
+%% Plot Description:
+%
+% The plot below shows the 3D trajectory of the box moved by the gripper.
+%
+% Copyright 2017-2018 The MathWorks, Inc.
+
+% Generate simulation results if they don't exist
+if ~exist('simlog_Gripper_2Belts', 'var')
+ sim('Gripper_2Belts')
+end
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h1_Gripper_2Belts', 'var') || ...
+ ~isgraphics(h1_Gripper_2Belts, 'figure')
+ h1_Gripper_2Belts = figure('Name', 'Gripper_2Belts');
+end
+figure(h1_Gripper_2Belts)
+clf(h1_Gripper_2Belts)
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+% Get simulation results
+simlog_t = simlog_Gripper_2Belts.Init_Box_6_DOF_Joint.Px.p.series.time;
+simlog_boxPx = simlog_Gripper_2Belts.Init_Box_6_DOF_Joint.Px.p.series.values('m');
+simlog_boxPy = simlog_Gripper_2Belts.Init_Box_6_DOF_Joint.Py.p.series.values('m');
+simlog_boxPz = simlog_Gripper_2Belts.Init_Box_6_DOF_Joint.Pz.p.series.values('m');
+
+% Plot results
+plot3(simlog_boxPx, simlog_boxPy, simlog_boxPz, 'LineWidth', 1)
+view(-159,16);
+set(gca,'ZLim',[0 0.7]);
+axis equal
+set(gca,...
+ 'XTickLabel','','ZTickLabel','','YTickLabel','')
+grid on
+box on
+set(gca,'XLim',[-0.7 0.3],'ZLim',[0 0.7],'TickLength',[0 0]);
+title('Box Trajectory')
+
+% Remove temporary variables
+clear simlog_t simlog_boxPx simlog_boxPy simlog_boxPz
+clear temp_colororder
+
diff --git a/Examples/3D/MATLAB_Build/Spheres_in_Sphere/sm_build_spheres_in_sphere.m b/Examples/3D/MATLAB_Build/Spheres_in_Sphere/sm_build_spheres_in_sphere.m
new file mode 100644
index 0000000..064b7cc
--- /dev/null
+++ b/Examples/3D/MATLAB_Build/Spheres_in_Sphere/sm_build_spheres_in_sphere.m
@@ -0,0 +1,276 @@
+%% Script to define contact forces for many spheres in a single sphere
+% Settings for model
+mdl = 'sm_spheres_in_sphere';
+subsys_name = 'Spheres in Sphere';
+num_sphs = 5;
+
+%% Create model
+ssc_new(mdl);
+set_param(mdl,'ModelBrowserVisibility','off');
+set_param(mdl,'SimMechanicsRigidlyBoundBlock','none');
+set_param(mdl,'Solver','ode15s','RelTol','1e-3','AbsTol','1e-4');
+
+% Save parameter values in model workspace so it can be saved with all
+% necessary data to run
+mdlWks = get_param(mdl,'ModelWorkspace');
+assignin(mdlWks,'inner_sphere_rad',0.05);
+assignin(mdlWks,'kcon_inner_inner',1e4);
+assignin(mdlWks,'bcon_inner_inner',1e2);
+assignin(mdlWks,'kcon_inner_outer',1e4);
+assignin(mdlWks,'bcon_inner_outer',1e2);
+assignin(mdlWks,'muk_inner_inner',0.5);
+assignin(mdlWks,'mus_inner_inner',0.7);
+assignin(mdlWks,'vth_inner_inner',1e-2);
+assignin(mdlWks,'muk_inner_outer',0.5)
+assignin(mdlWks,'mus_inner_outer',0.7);
+assignin(mdlWks,'vth_inner_outer',1e-2);
+
+outer_sphere_rad_in = 0.15;
+outer_sphere_rad_out = 0.02+outer_sphere_rad_in;
+
+% Geometry for outer sphere
+avec = 89:-1:-89;
+outer_sphere_xs = [...
+ 0 outer_sphere_rad_out;...
+ 0 outer_sphere_rad_in;...
+ [cosd(avec)*outer_sphere_rad_in]' [sind(avec)*outer_sphere_rad_in]';...
+ 0 -outer_sphere_rad_in;...
+ 0 -outer_sphere_rad_out;...
+ flipud([[cosd(avec)*outer_sphere_rad_out]' [sind(avec)*outer_sphere_rad_out]'])];
+
+assignin(mdlWks,'outer_sphere_rad_in',outer_sphere_rad_in); % inner radius
+assignin(mdlWks,'outer_sphere_rad_out',outer_sphere_rad_out); % outer radius
+assignin(mdlWks,'outer_sphere_xs',outer_sphere_xs);
+
+% Color and opacity for spheres
+assignin(mdlWks,'clr_inner_sphere',[0.2 0.4 0.6]);
+assignin(mdlWks,'clr_outer_sphere',[0.6 0.6 0.6]);
+
+% List of blocks with path to location within libraries
+% Required for add_block() command
+s2sp = 'Contact_Forces_Lib/3D/Sphere to Sphere Force';
+sisp = 'Contact_Forces_Lib/3D/Sphere in Sphere Force';
+conn = 'nesl_utility/Connection Port';
+rtfm = 'sm_lib/Frames and Transforms/Rigid Transform';
+wdfm = 'sm_lib/Frames and Transforms/World Frame';
+rvjt = 'sm_lib/Joints/Revolute Joint';
+sdjt = 'sm_lib/Joints/6-DOF Joint';
+slid = 'sm_lib/Body Elements/Solid';
+mcfg = 'sm_lib/Utilities/Mechanism Configuration';
+scfg = 'nesl_utility/Solver Configuration';
+
+% Adjust block references based on MATLAB version
+if (strncmp(version('-release'),'2012',4) || strncmp(version('-release'),'2013a',5))
+ mcfg = 'sm_lib/Utilities/Mechanism Configuration';
+ rtfm = 'sm_lib/Frames and Transforms/Rigid Transform';
+ wdfm = 'sm_lib/Frames and Transforms/World Frame';
+end
+
+% Block diagram constants
+blk_or = [100 155 140 195]; % Start position and size for square block
+blk_or_conn = [100 155 130 175]; % Start position and size for connection port
+blk_or_conf = [100 180 130 165]; % Start position and size for contact force
+blk_xo = [80 0 80 0]; % Standard block diagram offset in x
+blk_yo = [0 80 0 80]; % Standard block diagram offset in y
+conn_size = [0 0 30 20]; % Size of connection port block
+conf_size = [0 0 80 25]; % Size of contact force block
+solid_size = [0 0 40 40]; % Size of contact force block
+subsys_position = [230 154 330 196];% Position of subsystem in top level diagram
+
+%% Clean out model
+
+% Delete lines
+linehan = find_system(mdl,'FindAll','on','type','line');
+if ~isempty(linehan)
+ delete(linehan)
+end
+
+% Delete blocks
+blkhan = find_system(mdl,'Type','Block');
+if ~isempty(blkhan)
+ delete_block(blkhan)
+end
+
+%% Add and connect required blocks
+wdfm_h = add_block(wdfm,[mdl '/World Frame'],'Position',blk_or,...
+ 'Orientation','Right');
+add_block(mcfg,[mdl '/Mechanism Configuration'],...
+ 'Position',blk_or + blk_yo,'Orientation','Right');
+add_line(mdl,'World Frame/RConn1',...
+ 'Mechanism Configuration/RConn1');
+add_block(scfg,[mdl '/Solver Configuration'],...
+ 'Position',blk_or - blk_yo,'Orientation','Right');
+add_line(mdl,'World Frame/RConn1',...
+ 'Solver Configuration/RConn1');
+
+%% Add and clean subsystem
+sub_h = add_block('simulink/Ports & Subsystems/Subsystem',[mdl '/' subsys_name],'Position',subsys_position);
+
+% Delete lines
+linehan = find_system(sub_h,'LookUnderMasks','all','FollowLinks','on','FindAll','on','type','line');
+if ~isempty(linehan)
+ delete(linehan)
+end
+
+% Delete blocks
+inport_h = find_system(sub_h,'BlockType','Inport');
+outport_h = find_system(sub_h,'BlockType','Outport');
+delete_block(inport_h);
+delete_block(outport_h);
+
+% Store path to subsystem
+subs_path = [bdroot '/' get_param(sub_h,'Name')];
+
+%% Add solids, joints, and connection port
+
+% Add connection port
+conn_h = add_block(conn,...
+ [bdroot '/' get_param(sub_h,'Name') '/Ref'],...
+ 'Position',blk_or_conn-blk_xo,...
+ 'Orientation','Right','Name','Ref');
+
+% Add solids and joints
+solid_pos = blk_or; % Position of first inner sphere
+for insph_i = 1:num_sphs
+
+ % Offset solid blocks vertically in diagram (except first one)
+ if(insph_i>1)
+ solid_pos(insph_i,:) = solid_pos(insph_i-1,:) + blk_yo*(num_sphs-insph_i+1+1);
+ end
+
+ % Add solid blocks for inner spheres
+ insph_h(insph_i) = add_block(slid,...
+ [bdroot '/' get_param(sub_h,'Name') ['/InSph' num2str(insph_i)]],...
+ 'Position',solid_pos(insph_i,:),...
+ 'Orientation','Right','Name',['InSph' num2str(insph_i)]);
+
+ % Add 6-DOF Joints for inner spheres
+ insphjt_h(insph_i) = add_block(sdjt,...
+ [bdroot '/' get_param(sub_h,'Name') ['/InSph Joint ' num2str(insph_i)]],...
+ 'Position',solid_pos(insph_i,:)+ blk_yo,...
+ 'Orientation','Right','Name',['InSph Joint' num2str(insph_i)]);
+
+ % Connect solids to joints
+ add_line(subs_path,[get_param(insph_h(insph_i),'Name') '/RConn1'],...
+ [get_param(insphjt_h(insph_i),'Name') '/RConn1'],'autorouting','on');
+
+ % Connect joints to connection port
+ add_line(subs_path,[get_param(insphjt_h(insph_i),'Name') '/LConn1'],...
+ [get_param(conn_h,'Name') '/RConn1'],'autorouting','on');
+
+ % Set parameters for inner spheres
+ set_param(insph_h(insph_i),...
+ 'GeometryShape','Sphere',...
+ 'SphereRadius','inner_sphere_rad',...
+ 'GraphicDiffuseColor','clr_inner_sphere',...
+ 'Density','1000');
+
+ % Set initial position of inner spheres
+ set_param(insphjt_h(insph_i),...
+ 'PxPositionTargetSpecify','on',...
+ 'PxPositionTargetValue',...
+ ['(outer_sphere_rad_in-inner_sphere_rad)*cosd(360*(' num2str(insph_i-1) '/' num2str(num_sphs) '))'],...
+ 'PyPositionTargetSpecify','on',...
+ 'PyPositionTargetValue',...
+ ['(outer_sphere_rad_in-inner_sphere_rad)*sind(360*(' num2str(insph_i-1) '/' num2str(num_sphs) '))']);
+
+end
+
+
+%% Add Outer Sphere
+
+outsph_h = add_block(slid,...
+ [bdroot '/' get_param(sub_h,'Name') '/OutSph'],...
+ 'Position',blk_or+[1 0 1 0]*600,...
+ 'Orientation','Left');
+
+set_param(outsph_h,...
+ 'GeometryShape','GeneralSolidOfRevolution',...
+ 'RevolutionCrossSection','outer_sphere_xs',...
+ 'RevolutionExtent','Full',...
+ 'GraphicDiffuseColor','clr_outer_sphere',...
+ 'Density','1000',...
+ 'GraphicOpacity','0.4');
+
+% Connect solid for outer sphere to connection port
+add_line(subs_path,[get_param(outsph_h,'Name') '/RConn1'],...
+ [get_param(conn_h,'Name') '/RConn1'],'autorouting','on');
+
+%% Add internal contact forces
+
+% Loop over inner spheres
+for insph_i = 1:num_sphs
+
+ % Do for all spheres except the last one
+ if(insph_iThis block models planar contact forces between a box and a conveyor belt. The conveyor belt moves at the speed specified by the input signal in m/s.
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This subsystem models planar contact forces between two boxes.
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the Box to Box Contact Force
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the Box to Box Contact Force
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This block implements a 2D contact force between a circle and a finite line. The force is active above and below the line.
This is part of the Simscape Multibody Contact Forces Library
Frame connected to LinB port:
Frame connected to the CirF port:
Output signal is a bus with intermediate calculations and total force.
This block implements a 2D contact force between a circle and a ring. The force is active on the outside and the inside of the ring.
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This subsystem implements a contact force between a plane and a square face. The plane is assumed significantly larger than the face such that the edges will never intersect. The force is active above and below the plane and face.
This is part of the Simscape Multibody Contact Forces Library
Frame connected to PlaB port:
Frame connected to the FacF port:
Output signal is a bus with intermediate calculations and total force.
The diagrams and text below describe the configurable force laws in the Simscape Multibody Contact Forces Library. It applies for 2D and 3D contact forces.
You can also create your own customized force law:
Add your own in Simulink: Edit Custom Force Law
See also friction law documentation
The diagrams and text below describe the configurable friction force laws in the Simscape Multibody Contact Forces Library. It applies for 2D and 3D contact forces.
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:
Output signal is a bus with intermediate calculations and total force.
This block implements a contact force between a sphere and a moving belt with round ends. The force is active above and below the belt.
This is part of the Simscape Multibody Contact Forces Library
Frame connected to BelB port:
Frame connected to the SphF port:
Output signal is a bus with intermediate calculations and total force.
Input signal is a bus that enables the force and controls belt speed.
This block implements a contact force between a sphere and a cone. The force is active outside and inside the cone.
This is part of the Simscape Multibody Contact Forces Library
Frame connected to ConB port:
Frame connected to SphF port:
Output signal is a bus with intermediate calculations and total force.
This block implements a contact force between a sphere and a plane. The force is active above and below the plane.
This is part of the Simscape Multibody Contact Forces Library
Frame connected to PlaB port:
Frame connected to the SphF port:
Output signal is a bus with intermediate calculations and total force.
This subsystem implements a contact force between two spheres. It acts to repel frames SphB and SphF.
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
Output signal is a bus with intermediate calculations and total force.
This block implements a contact force between a sphere and a tube. The force is active outside and inside the tube.
This is part of the Simscape Multibody Contact Forces Library
Frame connected to TubB port:
Frame connected to SphF port:
Output signal is a bus with intermediate calculations and total force.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.
+
+
+ Copyright 2014-2018 The MathWorks™, Inc.Library Overview
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+
+3D Applications
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Applications.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Applications.html
new file mode 100644
index 0000000..24925a9
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Applications.html
@@ -0,0 +1,131 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+1. Cam Follower: Model, Animation, Force Description
+2. Cam Follower with Constraint: Model, Animation
+3. Geneva Drive: Model, Animation, Force Description
+... CAD Model -> Import XML, Simscape Multibody Model
+4. Mini Golf: Model, Animation: Hole 6, Hole 7
+5. Spinning Boxes: Model, Animation, Force Description
+6. Two Conveyor Belts: Model, Animation
+7. Ball Bearing: Model, Animation
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+
+3D Applications
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+% 1. Cam Follower: Model, Animation, Force Description
+% 2. Cam Follower with Constraint: Model, Animation
+% 3. Geneva Drive: Model, Animation, Force Description
+% ... CAD Model -> Import XML, Simscape Multibody Model
+% 4. Mini Golf: Model, Animation: Hole 6, Hole 7
+% 5. Spinning Boxes: Model, Animation, Force Description
+% 6. Two Conveyor Belts: Model, Animation
+% 7. Ball Bearing: Model, Animation
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Collision.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Collision.html
new file mode 100644
index 0000000..3c09788
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Collision.html
@@ -0,0 +1,129 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+
+2D Collision Examples (Basic)
+1. Ball on Infinite Plane: Model, Animation
+2. Disk on Finite Plane (fixed): Model, Animation
+3. Disk on Finite Plane (spin): Model, Animation
+4. Disks in Box: Model, Animation (No Friction, With Friction)
+5. Disk in Ring: Model, Animation (No Friction, With Friction)
+6. Catapult: Model, Animation
+7. Ball and Floating Beam: Model, Animation
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+
+3D Applications
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+% 1. Ball on Infinite Plane: Model, Animation
+% 2. Disk on Finite Plane (fixed): Model, Animation
+% 3. Disk on Finite Plane (spin): Model, Animation
+% 4. Disks in Box: Model, Animation (No Friction, With Friction)
+% 5. Disk in Ring: Model, Animation (No Friction, With Friction)
+% 6. Catapult: Model, Animation
+% 7. Ball and Floating Beam: Model, Animation
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Friction.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Friction.html
new file mode 100644
index 0000000..79ea143
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_2D_Friction.html
@@ -0,0 +1,135 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+1. Box on Ramp (Constraint): Model, Animation
+2. Box on Ramp : Model, Animation
+3. Double Pendulum (Constraint): Model, Animation
+4. Disk Rolling on Ramp: Model, Animation
+5. Beam on Wheel: Model, Animation
+6. Disk on Disk: Model, Animation
+7. Floating Disks: Model, Animation
+8. Disks and Ring: Model, Animation
+9. Ring on Disk: Model, Animation
+10. Ball on Wheel: Model, Animation
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+
+3D Applications
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+% 1. Box on Ramp (Constraint): Model, Animation
+% 2. Box on Ramp : Model, Animation
+% 3. Double Pendulum (Constraint): Model, Animation
+% 4. Disk Rolling on Ramp: Model, Animation
+% 5. Beam on Wheel: Model, Animation
+% 6. Disk on Disk: Model, Animation
+% 7. Floating Disks: Model, Animation
+% 8. Disks and Ring: Model, Animation
+% 9. Ring on Disk: Model, Animation
+% 10. Ball on Wheel: Model, Animation
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Applications.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Applications.html
new file mode 100644
index 0000000..1e5211f
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Applications.html
@@ -0,0 +1,125 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+
+3D Applications
+1. Two-Wheel Robot: Model, Animation
+2. Cart with Caster Wheels: Model, Animation
+3. Gripper with Conveyor Belts: Model, Animation
+4. Tread Drive on Uneven Surface: Model, Animation
+5. Robot with Six Legs Built from 4 Four-Bar Linkages: Model, Animation
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+% 1. Two-Wheel Robot: Model, Animation
+% 2. Cart with Caster Wheels: Model, Animation
+% 3. Gripper with Conveyor Belts: Model, Animation
+% 4. Tread Drive on Uneven Surface: Model, Animation
+% 5. Robot with Six Legs Built from 4 Four-Bar Linkages: Model, Animation
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Collision.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Collision.html
new file mode 100644
index 0000000..8b4f809
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Collision.html
@@ -0,0 +1,131 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+1. Ball on Fixed Plane: Model, Animation (No Friction, With Friction)
+2. Ball on Spinning Plane: Model, Animation (No Friction, With Friction)
+3. Balls in Box: Model, Animation (No Friction, With Friction)
+4. Ball in Fixed Tube: Model, Animation
+5. Ball on Peg Board: Model, Animation
+6. Ball in Ball: Model, Animation
+7. Balls and Sliding Tube: Model, Animation
+8. Ball in Spinning Cone: Model, Animation
+
+3D Friction Examples (Basic)
+
+3D Applications
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+% 1. Ball on Fixed Plane: Model, Animation (No Friction, With Friction)
+% 2. Ball on Spinning Plane: Model, Animation (No Friction, With Friction)
+% 3. Balls in Box: Model, Animation (No Friction, With Friction)
+% 4. Ball in Fixed Tube: Model, Animation
+% 5. Ball on Peg Board: Model, Animation
+% 6. Ball in Ball: Model, Animation
+% 7. Balls and Sliding Tube: Model, Animation
+% 8. Ball in Spinning Cone: Model, Animation
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Friction.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Friction.html
new file mode 100644
index 0000000..dbb3d9b
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_3D_Friction.html
@@ -0,0 +1,133 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+1. Box on Table: Model, Animation
+2. Ball on Table: Model, Animation
+3. Board on Balls: Model, Animation
+4. Ball on Ball: Model, Animation
+5. Tube on Balls: Model, Animation
+6. Ball on Balls: Model, Animation
+7. Ball in Ball: Model, Animation
+8. Balls on Driven Tube: Model, Animation
+9. MATLAB Script, Spheres in Sphere: Model, Edit MATLAB Code
+
+3D Applications
+
+
+Library Overview
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+% 1. Box on Table: Model, Animation
+% 2. Ball on Table: Model, Animation
+% 3. Board on Balls: Model, Animation
+% 4. Ball on Ball: Model, Animation
+% 5. Tube on Balls: Model, Animation
+% 6. Ball on Balls: Model, Animation
+% 7. Ball in Ball: Model, Animation
+% 8. Balls on Driven Tube: Model, Animation
+% 9. MATLAB Script, Spheres in Sphere: Model, Edit MATLAB Code
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_ALL.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_ALL.html
new file mode 100644
index 0000000..3ca561d
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_ALL.html
@@ -0,0 +1,243 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+1. Using the Library
+2. Library
+3. Forces: Laws
+....1. Basic 2D:
+.......a. Circle-to-Circle Force: Description, Example (Disks in Box)
+.......b. Circle-to-Finite Line Force: Description, Example (Ball on Finite Plane (spin))
+.......c. Circle-to-Ring Force: Description; Examples: Disk in Ring, Catapult
+....2. Composite 2D:
+.......a. Box-to-Box Force: Description, Example (Spinning Boxes)
+.......b. Box-to-Belt Force: Description, Example (Box on two Conveyor Belts)
+....3. Basic 3D:
+.......a. Sphere-to-Sphere Force: Description, Example (Ball on Ball)
+.......b. Sphere-in-Sphere Force: Description, Example (Ball in Ball)
+.......c. Sphere-to-Plane Force: Description, Example (Ball on Spinning Plane)
+.......d. Sphere-to-Tube Force: Description; Example (Ball in Fixed Tube)
+.......e. Sphere-to-Cone Force: Description; Example (Ball in Spinning Cone)
+4. Friction Force: Laws
+
+2D Collision Examples (Basic)
+1. Ball on Infinite Plane: Model, Animation
+2. Disk on Finite Plane (fixed): Model, Animation
+3. Disk on Finite Plane (spin): Model, Animation
+4. Disks in Box: Model, Animation (No Friction, With Friction)
+5. Disk in Ring: Model, Animation (No Friction, With Friction)
+6. Catapult: Model, Animation
+7. Ball and Floating Beam: Model, Animation
+
+2D Friction Examples (Basic)
+1. Box on Ramp (Constraint): Model, Animation
+2. Box on Ramp : Model, Animation
+3. Double Pendulum (Constraint): Model, Animation
+4. Disk Rolling on Ramp: Model, Animation
+5. Beam on Wheel: Model, Animation
+6. Disk on Disk: Model, Animation
+7. Floating Disks: Model, Animation
+8. Disks and Ring: Model, Animation
+9. Ring on Disk: Model, Animation
+10. Ball on Wheel: Model, Animation
+
+2D Examples (Applications)
+1. Cam Follower: Model, Animation, Force Description
+2. Cam Follower with Constraint: Model, Animation
+3. Geneva Drive: Model, Animation, Force Description
+... CAD Model -> Import XML, Simscape Multibody Model
+4. Mini Golf: Model, Animation: Hole 6, Hole 7
+5. Spinning Boxes: Model, Animation, Force Description
+6. Two Conveyor Belts: Model, Animation
+7. Ball Bearing: Model, Animation
+
+3D Collision Examples (Basic)
+1. Ball on Fixed Plane: Model, Animation (No Friction, With Friction)
+2. Ball on Spinning Plane: Model, Animation (No Friction, With Friction)
+3. Balls in Box: Model, Animation (No Friction, With Friction)
+4. Ball in Fixed Tube: Model, Animation
+5. Ball on Peg Board: Model, Animation
+6. Ball in Ball: Model, Animation
+7. Balls and Sliding Tube: Model, Animation
+8. Ball in Spinning Cone: Model, Animation
+
+3D Friction Examples (Basic)
+1. Box on Table: Model, Animation
+2. Ball on Table: Model, Animation
+3. Board on Balls: Model, Animation
+4. Ball on Ball: Model, Animation
+5. Tube on Balls: Model, Animation
+6. Ball on Balls: Model, Animation
+7. Ball in Ball: Model, Animation
+8. Balls on Driven Tube: Model, Animation
+9. MATLAB Script, Spheres in Sphere: Model, Edit MATLAB Code
+
+3D Applications
+1. Two-Wheel Robot: Model, Animation
+2. Cart with Caster Wheels: Model, Animation
+3. Gripper with Conveyor Belts: Model, Animation
+4. Tread Drive on Uneven Surface: Model, Animation
+5. Robot with Six Legs Built from 4 Four-Bar Linkages: Model, Animation
+
+
+Library Overview
+% 1. Using the Library
+% 2. Library
+% 3. Forces: Laws
+% ....1. Basic 2D:
+% .......a. Circle-to-Circle Force: Description, Example (Disks in Box)
+% .......b. Circle-to-Finite Line Force: Description, Example (Ball on Finite Plane (spin))
+% .......c. Circle-to-Ring Force: Description; Examples: Disk in Ring, Catapult
+% ....2. Composite 2D:
+% .......a. Box-to-Box Force: Description, Example (Spinning Boxes)
+% .......b. Box-to-Belt Force: Description, Example (Box on two Conveyor Belts)
+% ....3. Basic 3D:
+% .......a. Sphere-to-Sphere Force: Description, Example (Ball on Ball)
+% .......b. Sphere-in-Sphere Force: Description, Example (Ball in Ball)
+% .......c. Sphere-to-Plane Force: Description, Example (Ball on Spinning Plane)
+% .......d. Sphere-to-Tube Force: Description; Example (Ball in Fixed Tube)
+% .......e. Sphere-to-Cone Force: Description; Example (Ball in Spinning Cone)
+% 4. Friction Force: Laws
+%
+% 2D Collision Examples (Basic)
+% 1. Ball on Infinite Plane: Model, Animation
+% 2. Disk on Finite Plane (fixed): Model, Animation
+% 3. Disk on Finite Plane (spin): Model, Animation
+% 4. Disks in Box: Model, Animation (No Friction, With Friction)
+% 5. Disk in Ring: Model, Animation (No Friction, With Friction)
+% 6. Catapult: Model, Animation
+% 7. Ball and Floating Beam: Model, Animation
+%
+% 2D Friction Examples (Basic)
+% 1. Box on Ramp (Constraint): Model, Animation
+% 2. Box on Ramp : Model, Animation
+% 3. Double Pendulum (Constraint): Model, Animation
+% 4. Disk Rolling on Ramp: Model, Animation
+% 5. Beam on Wheel: Model, Animation
+% 6. Disk on Disk: Model, Animation
+% 7. Floating Disks: Model, Animation
+% 8. Disks and Ring: Model, Animation
+% 9. Ring on Disk: Model, Animation
+% 10. Ball on Wheel: Model, Animation
+%
+% 2D Examples (Applications)
+% 1. Cam Follower: Model, Animation, Force Description
+% 2. Cam Follower with Constraint: Model, Animation
+% 3. Geneva Drive: Model, Animation, Force Description
+% ... CAD Model -> Import XML, Simscape Multibody Model
+% 4. Mini Golf: Model, Animation: Hole 6, Hole 7
+% 5. Spinning Boxes: Model, Animation, Force Description
+% 6. Two Conveyor Belts: Model, Animation
+% 7. Ball Bearing: Model, Animation
+%
+% 3D Collision Examples (Basic)
+% 1. Ball on Fixed Plane: Model, Animation (No Friction, With Friction)
+% 2. Ball on Spinning Plane: Model, Animation (No Friction, With Friction)
+% 3. Balls in Box: Model, Animation (No Friction, With Friction)
+% 4. Ball in Fixed Tube: Model, Animation
+% 5. Ball on Peg Board: Model, Animation
+% 6. Ball in Ball: Model, Animation
+% 7. Balls and Sliding Tube: Model, Animation
+% 8. Ball in Spinning Cone: Model, Animation
+%
+% 3D Friction Examples (Basic)
+% 1. Box on Table: Model, Animation
+% 2. Ball on Table: Model, Animation
+% 3. Board on Balls: Model, Animation
+% 4. Ball on Ball: Model, Animation
+% 5. Tube on Balls: Model, Animation
+% 6. Ball on Balls: Model, Animation
+% 7. Ball in Ball: Model, Animation
+% 8. Balls on Driven Tube: Model, Animation
+% 9. MATLAB Script, Spheres in Sphere: Model, Edit MATLAB Code
+%
+% 3D Applications
+% 1. Two-Wheel Robot: Model, Animation
+% 2. Cart with Caster Wheels: Model, Animation
+% 3. Gripper with Conveyor Belts: Model, Animation
+% 4. Tread Drive on Uneven Surface: Model, Animation
+% 5. Robot with Six Legs Built from 4 Four-Bar Linkages: Model, Animation
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Doc/Contact_Forces_Demo_Script_Library.html b/Scripts_Data/Doc/Contact_Forces_Demo_Script_Library.html
new file mode 100644
index 0000000..617d7bd
--- /dev/null
+++ b/Scripts_Data/Doc/Contact_Forces_Demo_Script_Library.html
@@ -0,0 +1,151 @@
+
+
+
+
+ Simscape Multibody Contact Forces Library
Library Overview
+1. Using the Library
+2. Library
+3. Forces: Laws
+....1. Basic 2D:
+.......a. Circle-to-Circle Force: Description, Example (Disks in Box)
+.......b. Circle-to-Finite Line Force: Description, Example (Ball on Finite Plane (spin))
+.......c. Circle-to-Ring Force: Description; Examples: Disk in Ring, Catapult
+....2. Composite 2D:
+.......a. Box-to-Box Force: Description, Example (Spinning Boxes)
+.......b. Box-to-Belt Force: Description, Example (Box on two Conveyor Belts)
+....3. Basic 3D:
+.......a. Sphere-to-Sphere Force: Description, Example (Ball on Ball)
+.......b. Sphere-in-Sphere Force: Description, Example (Ball in Ball)
+.......c. Sphere-to-Plane Force: Description, Example (Ball on Spinning Plane)
+.......d. Sphere-to-Tube Force: Description; Example (Ball in Fixed Tube)
+.......e. Sphere-to-Cone Force: Description; Example (Ball in Spinning Cone)
+4. Friction Force: Laws
+
+
+2D Collision Examples (Basic)
+
+2D Friction Examples (Basic)
+
+2D Examples (Applications)
+
+3D Collision Examples (Basic)
+
+3D Friction Examples (Basic)
+
+3D Applications
+
+
+Library Overview
+% 1. Using the Library
+% 2. Library
+% 3. Forces: Laws
+% ....1. Basic 2D:
+% .......a. Circle-to-Circle Force: Description, Example (Disks in Box)
+% .......b. Circle-to-Finite Line Force: Description, Example (Ball on Finite Plane (spin))
+% .......c. Circle-to-Ring Force: Description; Examples: Disk in Ring, Catapult
+% ....2. Composite 2D:
+% .......a. Box-to-Box Force: Description, Example (Spinning Boxes)
+% .......b. Box-to-Belt Force: Description, Example (Box on two Conveyor Belts)
+% ....3. Basic 3D:
+% .......a. Sphere-to-Sphere Force: Description, Example (Ball on Ball)
+% .......b. Sphere-in-Sphere Force: Description, Example (Ball in Ball)
+% .......c. Sphere-to-Plane Force: Description, Example (Ball on Spinning Plane)
+% .......d. Sphere-to-Tube Force: Description; Example (Ball in Fixed Tube)
+% .......e. Sphere-to-Cone Force: Description; Example (Ball in Spinning Cone)
+% 4. Friction Force: Laws
+%
+%
+% 2D Collision Examples (Basic)
+%
+% 2D Friction Examples (Basic)
+%
+% 2D Examples (Applications)
+%
+% 3D Collision Examples (Basic)
+%
+% 3D Friction Examples (Basic)
+%
+% 3D Applications
+%
+%
+%
+%
+% Copyright 2014-2018 The MathWorks(TM), Inc.
+
diff --git a/Scripts_Data/Extrusions/Extr_Data_Block_NotchCircle.m b/Scripts_Data/Extrusions/Extr_Data_Block_NotchCircle.m
new file mode 100644
index 0000000..c41e1a0
--- /dev/null
+++ b/Scripts_Data/Extrusions/Extr_Data_Block_NotchCircle.m
@@ -0,0 +1,128 @@
+function [xy_data] = Extr_Data_Block_NotchCircle(box_x, box_y, notch_rad, notch_th, box_r, varargin)
+%Extr_Data_Block_NotchCircle Produce extrusion data for a rectangle with rounded corners.
+% [xy_data] = Extr_Data_Block_NotchCircle(height, width, radius, varargin)
+% This function returns x-y data for a rectangle with rounded corners.
+% You can specify:
+% Width box_x
+% Height box_y
+% Notch radius notch_rad
+% Notch theta notch_th
+% Radius, outer fillet box_r
+%
+% To see a plot showing parameter values, enter the name
+% of the function with no arguments
+% >> Extr_Data_Block_NotchCircle
+%
+% To see a plot created with your parameter values,
+% add 'plot' as the final argument
+% >> Extr_Data_Block_NotchCircle(2,1,0.7,45,0.2,'plot')
+
+% Copyright 2012-2018 The MathWorks, Inc.
+
+% Default data to show diagram
+if (nargin == 0)
+ box_x = 0.02;
+ box_y = 0.01;
+ notch_rad = 0.007;
+ notch_th = 45;
+ box_r = 0.002;
+end
+
+if (nargin == 6)
+ showplot = varargin{end};
+else
+ showplot = 'n';
+end
+
+% Check if plot should be produced
+if (isempty(varargin))
+ showplot = 'n';
+end
+
+%box_oy = b_D/2-(b_D+b_d)/4-notch_rad*cosd(notch_th);
+%box_ox = b_b;
+
+% Create outer profile
+if (box_r>0)
+ xyset1 = [box_x/2 0;box_x/2 box_y-box_r ];
+ xyset3 = [box_x/2-box_r box_y;-box_x/2+box_r box_y];
+ xyset5 = [-box_x/2 box_y-box_r;-box_x/2 0];
+% xyset7 = [box_ox/2 -box_oy/2+rad_o;box_ox/2 box_oy/2-rad_o];
+
+ xyset2 = [Extr_Data_Ring(box_r,0,1,89)];
+ xyset2(:,1) = xyset2(:,1)+(box_x/2-box_r);
+ xyset2(:,2) = xyset2(:,2)+(box_y-box_r);
+ xyset4 = [Extr_Data_Ring(box_r,0,91,179)];
+ xyset4(:,1) = xyset4(:,1)+(-box_x/2+box_r);
+ xyset4(:,2) = xyset4(:,2)+(box_y-box_r);
+ xy_data = [xyset1; xyset2; xyset3; xyset4; xyset5];
+else
+ xyset1 = [box_x/2 box_y/2];
+ xyset3 = [-box_x/2 box_y/2];
+ xyset5 = [-box_x/2 -box_y/2];
+ xy_data = [xyset1; xyset3; xyset5];
+end
+
+xyset6 = flipud(Extr_Data_Ring(notch_rad,-1,-notch_th+90,notch_th+90));
+xyset6 = xyset6 + repmat([0 -notch_rad*cosd(notch_th)],size(xyset6,1),1);
+xy_data=[xy_data;xyset6];
+
+%xy_data = xy_data + [0 (b_D+b_d)/4+sph_r*cosd(race_th)];
+
+
+% Plot diagram to show parameters and extrusion
+if (nargin == 0 || strcmpi(showplot,'plot'))
+
+ % Figure name
+ figString = ['h1_' mfilename];
+ % Only create a figure if no figure exists
+ figExist = 0;
+ fig_hExist = evalin('base',['exist(''' figString ''')']);
+ if (fig_hExist)
+ figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']);
+ end
+ if ~figExist
+ fig_h = figure('Name',figString);
+ assignin('base',figString,fig_h);
+ else
+ fig_h = evalin('base',figString);
+ end
+ figure(fig_h)
+ clf(fig_h)
+
+ % Plot extrusion
+ patch(xy_data(:,1),xy_data(:,2),[1 1 1]*0.90,'EdgeColor','none');
+ hold on
+ plot(xy_data(:,1),xy_data(:,2),'-','Marker','o','MarkerSize',4,'LineWidth',2);
+ axis('equal');
+ axis([-1.1 1.1 -0.6 1.6]*max(box_y/2,box_x/2));
+
+ % Show parameters
+ hold on
+
+ plot([-1 -1]*0.4*box_x/2,[0 box_y],'r-d','MarkerFaceColor','r');
+ text(-0.45*box_x/2,box_y*0.5,'{\color{red}box\_y}','HorizontalAlignment','right');
+
+ plot([-box_x/2 box_x/2],[1 1]*box_y*0.2,'b-d','MarkerFaceColor','b');
+ text(box_x/2*0.25,box_y*0.25,'{\color{blue}box\_ox}');
+
+ radius_label_angle = 45*(pi/180);
+ plot([box_x/2-box_r box_x/2-box_r*(1-cos(radius_label_angle))],[box_y-box_r box_y-box_r*(1-sin(radius_label_angle))],'k-d','MarkerFaceColor','k');
+ text(box_x/2-2*box_r*(cos(radius_label_angle)),box_y-2*box_r*(sin(radius_label_angle)),'{\color{black}rad\_o}','HorizontalAlignment','center');
+
+ plot([0 0],[0 notch_rad*1.2]-notch_rad*cosd(notch_th),'k:');
+ plot([0 sind(notch_th)]*notch_rad,([0 cosd(notch_th)]*notch_rad)-notch_rad*cosd(notch_th),'k-d','MarkerFaceColor','k');
+ text(notch_rad*sind(notch_th)*1.1,0,'{\color{black}notch\_rad}','HorizontalAlignment','left');
+
+ arc1_r = 0.75*notch_rad;
+ arc1 = linspace(0,notch_th,50)'*pi/180;
+ plot(sin(arc1)*arc1_r,cos(arc1)*arc1_r-notch_rad*cosd(notch_th),'g--');
+ plot(sin(arc1(1))*arc1_r,cos(arc1(1))*arc1_r-notch_rad*cosd(notch_th),'gd','MarkerFaceColor','g');
+ plot(sin(arc1(end))*arc1_r,cos(arc1(end))*arc1_r-notch_rad*cosd(notch_th),'gd','MarkerFaceColor','g');
+ text(-0.02*box_x,(0.75-cosd(notch_th))*notch_rad,'{\color{green}notch\_th}','HorizontalAlignment','right');
+
+ title(['[xy\_data] = Extr\_Data\_Block\_NotchCircle(box\_x, box\_y, notch\_rad, notch\_th, box\_r)'],'FontSize',10);
+ hold off
+ box on
+ clear xy_data
+end
diff --git a/Scripts_Data/Extrusions/Extr_Data_Box.m b/Scripts_Data/Extrusions/Extr_Data_Box.m
new file mode 100644
index 0000000..786b44a
--- /dev/null
+++ b/Scripts_Data/Extrusions/Extr_Data_Box.m
@@ -0,0 +1,101 @@
+function [xy_data] = Extr_Data_Box(box_ox, box_ix, varargin)
+%Extr_Data_Box Produce extrusion data for a hollow box.
+% [xy_data] = Extr_Data_Box(box_ox, box_ix,