- Using MSL 1d mechanics:
- connectors define force and position
- Mass is from MSL
- Gravity and AirResistance are defined graphically
- Hardstop is hand-coded Modelica

- Implementation of Hardstop:
- defines bouncing events
- provides force to counter gravity
- problem: needs m!

- basic Modelica code
when s <= 0 then reinit(v, -mu*pre(v)); end when; flying = not (s <= 0 and v <= 0); f = if flying then 0 else -m*g;

- additional v ≤ 0 necessary to prevent fall through

- Dynamic contact model:
- deformation of the ball using a linear spring and damper model
- corresponding block ElastoGap already in MSL
- is more sophisticated → use simplified version for benchmark