Dynamic robot model used in Gazebo

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Hi,

I'm working with a robot manipulator simulated in Gazebo. I'd like to know which is the dynamic model used by Gazebo in the simulation environment. Is it in the form (in joint space) Hqdd + Cqd + g = tau where H is the inertia matrix, qdd is the vector of acceleration, C the centrifugal and Coriolis force matrix, qd is the vector of velocity, g is the vector of gravity and tau il the vector of applied joint torque OR the dynamic model is in some other form?

Thank you all for help.