Hi @donghoo
The Rotational Friction and Rotational Multibody Interface blocks are part of the Simscape physical modeling domain. While many Simscape blocks are supported for C/C++ code generation, they are generally not intended to produce explicit C++ source code for each internal computation like torque or velocity equations. Instead, much of the physical behavior is compiled into compiled runtime artifacts (e.g., .so/.dll files), and the generated C++ code may only include high-level interfaces or wrapper functions.
This means that even though the model simulates correctly and builds without error using grt.tlc or ert.tlc, you may not see detailed torque/velocity calculations directly in the C++ code, as they're abstracted into these compiled components.
If you need full visibility or control over the computation, a common practice is to re-implement critical parts using:
- MATLAB Function blocks with manually defined friction dynamics.
- Simulink blocks representing simplified physical behaviors.
This gives you better control over the generated C/C++ code and ensures it's transparent and traceable.
For detailed list of products and blocks that are supported for code generation, kindly refer the following documentation -
I hope this helps.
