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Hey
I'm trying to use a new method of contact modeling and as i know there is only two concepts of contact defined within opensim, Hertz & viscous damping.
I wanted to make it more customized and define some other elements to chage it into a complimentarity problem formulation.
I'm not sure whether it is feasible to do so or not, and if it can be done, how im supposed to get started? Is there any tutorial for that?

Thanks for helping

Hi Atabak,

I will suggest you create an free joint between the affected bodies and add a custom actuator. You can follow the custom actuator example for this. https://github.com/opensim-org/opensim- ... torExample