Using the Spatial Contact Force Block - Bumper Car

This example shows a toy bumper car traveling down a series of ramps while undergoing intermittent collisions. Spatial Contact Force blocks are used to model the friction and normal forces between every pair of geometries that may potentially come into contact during the simulation (e.g., between one of the car's wheels and a railing). Each Spatial Contact Force block is able to generate brief high-impact contact forces to model collisions, as well as sustained contact forces to model rolling and sliding.