"Simulink-like" implementation

• Event contact:
  • no time, no internal degrees of freedom
  • v_after = −μ v_before
• Implementation details:
  • all blocks from MSL except ResetIntegrator
  • ResetIntegrator in Modelica

    • when r then
         reinit(y, y0);
      end when;

  • when semantics
    • active only at instant, when r becomes true
    • boolean input is "trigger", not "enabled"
  • ZeroCrossing block must be disabled for rising input
    • simplification: create NegativeZeroCrossing
  • Result
    • position: ok
    • velocity: fall through