Hi Sherm, Thank you, with the documentation and the example I could create a minimal system that allocates an auto-update variable. Now I am still trying to find a way to compute the needed reactions. Let me explain it again with the following basic system: diagram.PNG The system consists of two sli...

Hi Sherm, Regarding the reaction force, where should I be setting the allocated auto-update discrete variables? And by auto-update does it mean that, no matter when I set the value, it will be updated only after a step finishes? As for the actual friction force calculation, it does not directly depe...

Hi Sherm, I still have not found a convenient solution for the problem I am trying to solve, I would appreciate if you could shed more light upon it. Let me state the problem with a simpler equivalent system. The system has two mobilized bodies, each one of the same type, with one generalized coordi...

Hi Sherm, I think I understand it now. I falsely assumed the mobilizer reaction forces only included the mobility forces when directly specifying a motion, but it turns out it also applies for constraints acting directly on the generalized coordinates. That means, for example, that SimTK::Constraint...

Hi Sherm, Thank you for the prompt response. Indeed, both options could work. I would opt for the second one, given that I have many SimTK::Force components and just one SimTK::Constraint::CoordinateCoupler acting on each mobilized body. For the mobilizer reactions, I can use for instance findMobili...

Hello! Is there any function in Simbody that calculates the "net internal wrench" applied to a MobilizedBody? By that I mean the following: if a MobilizedBody is subject to a series of constraints, then this net force would be the sum of both the mobilizer force and the constraint forces, both obvio...