| Modelica.Mechanics.MultiBody.Forces.Force | force | | Force resolved in BCS4 based on BCS2 |
| Real | R | | radius ball |
| Real[3] | Length_Direction_cy | | length direction cylinder default (1,0,0) |
| Real[3] | Dw_Direction_cy | | width direction cylinder default (0,0,1) |
| Real[3] | Dh_Direction_cy | | height direction cylinder default (0,1,0) |
| Real[3] | R_l | | radius and half-length cylinder |
| Real | w_b_rel | | relative position center of ball mass in width direction BCS2 |
| Real | h_b_rel | | relative position center of ball mass in height direction BCS2 |
| Real | pos_b_wh | | |
| Real | l_mb_rel | | relative position contact point ball in length direction BCS4 |
| Real | w_mb_rel | | relative position contact point ball in width direction BCS4 |
| Real | h_mb_rel | | relative position contact point ball in height direction BCS4 |
| Real | penetration | | penetration |
| Boolean | contact | | |
| Real | f_fh | | friction in h direction BCS2 |
| Real | f_fw | | friction in w direction BCS2 |
| Real | f_fl | | friction in l direction BCS2 |
| Real | f_nh | | normal force in h direction BCS2 |
| Real | f_nw | | normal force in w direction BCS2 |
| Real | f_n | | normal force in h-w direction |
| Real[3] | f_normal | | normal force resolved in BCS2 |
| Real[3] | f_tangential | | friction resolved in BCS2 |
| Real[3] | r_ctb_BCS1 | | position contact point ball resolved in BCS1 |
| Real[3] | r_ctc_BCSA | | position contact point cylinder resolved in BCSA |
| Real[3] | v_cmb_BCSA | | velocity center of mass ball resolved in BCSA (velocity center of BCSA resolved in BCSA is zero) |
| Real[3] | v_ctb_BCSA | | velocity contact ball resolved in BCSA |
| Real[3] | v_ctc_BCSA | | velocity contact cylinder resolved in BCSA |
| Real[3,3] | T_BCS1A | | Transmation matrix from orientation objekt to rotate BCS1 into BCSA(BCS2) |
| Real[3] | v_rel_ct_BCSA | | relative velocity contact points resolved in BCSA |
| Modelica.Blocks.Routing.DeMultiplex4 | deMultiplex1 | | |
| Modelica.Blocks.Routing.DeMultiplex4 | deMultiplex2 | | |
