modelForceSphereToRectangle

Parameters

Type	Name	Default	Description
SI.TranslationalSpringConstant	c	1000000	spring constant
SI.TranslationalDampingConstant	d	1000	damping constant
Real	n1	1.5
Real	n2	n1
SI.CoefficientOfFriction	mue_r	0.0001	rolling friction
Real	gamma1
Real	gamma2
Real	gamma3
Real	gamma4
Real	gamma5
Real	gamma6
SI.Distance	t_max	0.0001	maximum penetration
Modelica.Mechanics.MultiBody.Types.Axis	y_direction	{0, 1, 0}	cartesian coordinate system in y direction -- direction of gravity
Modelica.Mechanics.MultiBody.Types.Axis	x_direction	{1, 0, 0}	cartesian coordinate system in x direction
Modelica.Mechanics.MultiBody.Types.Axis	z_direction	cross(x_direction, y_direction)

Type	Name	Description
Modelica.Blocks.Interfaces.RealInput[3]	pos_rel	relative position between ball contact point and center of rectangle resolved in BCS2
Modelica.Blocks.Interfaces.BooleanOutput	contact
Modelica.Blocks.Interfaces.RealInput[12]	vector_ball	radius ball
Modelica.Blocks.Interfaces.RealInput[3]	w_mov	anglulat velocity contact point ball resolved in BCS1
Modelica.Mechanics.MultiBody.Interfaces.Frame_a	frame_a1	contact point rectangle BCS4 based on BCS2
Modelica.Mechanics.MultiBody.Interfaces.Frame_a	frame_a2	contact point ball BCS3 based on BCS1
Modelica.Blocks.Interfaces.RealInput[12]	vector_r	length/width and L_W_H
Modelica.Blocks.Interfaces.RealInput[3]	r_rel1	Relative position center of mass ball resolved in BCS2
Modelica.Blocks.Interfaces.RealInput[3]	pos_ctb_BCS1	relative position contact point ball resolved in BCS1

Type	Name	Description
Real[3]	length_direction	length direction rectangle
Real[3]	width_direction	width direction rectangle
Real[3]	height_direction	height direction rectangle
Real[3]	L_W_H	length, width and height of rectangle
Real	R	radius ball
Real	l_rel	relative position ball contact point in length direction BCS2
Real	w_rel	relative position ball contact point in width direction BCS2
Real	h_rel	relative position ball contact point in height direction BCS2
Real	f_n	normal force in height direction BCS2
Real	f_l	friction in length direction BCS2
Real	f_w	friction in width direction BCS2
Real[3]	f_normal	normal force resolved in BCS2
Real[3]	f_tangential	friction resolved in BCS2
Real[3]	r_ctb_BCS1	position contact point ball resolved in BCS1
Real[3]	v_cmb_BCS2	velocity center of mass ball resolved in BCS2
Real[3]	v_ctb_BCS2	velocity contact ball resolved in BCS2
Real[3,3]	T_BCS12	Transmation matrix from orientation objekt to rotate BCS1 into BCS4(BCS2)
Real[3]	v_rel_ct_BCS2	relative velocity contact points resolved in BCS4
Real	f_c
Real	f_d
Real	f_c_nl
Real	fcd
Real	fcd_nl
Real	f_d_nl
Real	fdd
Modelica.Mechanics.MultiBody.Forces.Force	force	Force resolved in BCS4 based on BCS2
Modelica.Blocks.Routing.DeMultiplex4	deMultiplex1
Modelica.Blocks.Routing.DeMultiplex4	deMultiplex3