How does simscape work? What's the physics engine under this?

Recntly I use simscape to simulate a multibody systerm. But when I read the help document, I failed to find the physics engine behind this module. Any idea how does simscape multibody work out the dynamics problems, and what's the difference between simscape and other dynamics simulation softwares, such as Adams? Is there any simplification in simscape multibody dynamics?

Answer 1

[Steve Miller]

Simscape Multibody is based on Newtonian dynamics, similar to other specialized multibody simulation tools. It is more detailed and accurate than gaming engine physics.

--Steve