.Modelica.Mechanics.MultiBody.Parts.BodyShape

Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)

Information

Rigid body with mass and inertia tensor and two frame connectors. All parameter vectors have to be resolved in frame_a. The inertia tensor has to be defined with respect to a coordinate system that is parallel to frame_a with the origin at the center of mass of the body. The coordinate system frame_b is always parallel to frame_a.

By default, this component is visualized by any shape that can be defined with Modelica.Mechanics.MultiBody.Visualizers.FixedShape. This shape is placed between frame_a and frame_b (default: length(shape) = Frames.length(r)). Additionally a sphere may be visualized that has its center at the center of mass. Note, that the animation may be switched off via parameter animation = false.

Parts.BodyShape

The following shapes can be defined via parameter shapeType, e.g., shapeType="cone":

Visualizers.FixedShape

A BodyShape component has potential states. For details of these states and of the "Advanced" menu parameters, see model MultiBody.Parts.Body.


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