.IdealizedContact.ContactSurfaces.SphericalContactSurface .IdealizedContact.ContactSurfaces.SphericalContactSurfaceThe surface definition represents a thin and massless layer, which can be connected to any kind of rigid body by a frame connector. The dimensions can be parameterized. In order to be able to use them in the contact block we introduce a new interface to connect the surface definition with the contact block of this library. This adds a scalar vector to the MultiBody frame of the Modelica Standard Library. It comprises maximum three terms to describe the surface geometry and the three direction vectors to resolve them in the connected frame. The latter constitutes the body coordinate system of the contact surface. This model defines a spherical contact surface.