Hello,
To integrate the position data from Simulink for the Spatial Contact Force block, the Point Cloud block can be used. Here, the geometry of the object is created from the coordinate matrix (which could be defined in the model workspace) specified, and this can be fed into the Spatial Contact Force block. The R port of the block is the reference frame for the point cloud.
The documentation on the Point Cloud block (https://www.mathworks.com/help/sm/ref/pointcloud.html) and the contact modelling example for a ball on a grid surface (https://www.mathworks.com/help/sm/ug/grid_surface_ball.html) are helpful in this regard.
