How do parameters work in nonlinear maneuvering equations?

[mazik1496]

First of all, in the case of VRX simulation, we know that the following dynamics are applied.
It is also known that variables (mass, density, added mass, drag force, etc.) in rigid body force and hydrodynamic force can be set through urdf.xacro and usv_dynamics_plugin.xacro respectively.

https://wiki.nps.edu/display/BB/Publications?preview=/1173263776/1173263778/PID6131719.pdf
Looking at this document, if you look at the hydrodynamic forces, hydrostatic, and wave forces in the equations that act on the model, you can see that each term has a matrix and there are various parameters in that matrix. The part related to parameters including this determinant is in usv_gazebo_dynamic_plugin.cc, and I wonder if it is correct that the variables written in the xacro file go into usv_gazebo_dynamic_plugin.cc and work.

I am also curious about where the resistance acting on USV works and which part is good to refer to.