A force applied on frame_b which is quadratic dependent on the velocity of this frame. Both the measured velocity and the applied force are resolved in the same frame which is defined via parameter resolveInFrame as follows:

Types.ResolveInFrameA. Meaning
world Resolve input force in world frame (= default)
frame_a Resolve input force in frame_b
frame_resolve Resolve input force in frame_resolve (frame_resolve must be connected)

This model is e.g. suitable to simulate aerodynamic drag forces.


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