.ModelicaAdditions.MultiBody.Parts.Shape

Information

A variety of shapes can be defined for animation.
Parameter vectors are defined with respect to frame_a in [m].

Parameters:
  Shape        : Type of visual shape. Predefined shapes are
                   Shape = "box"
                           "sphere"
                           "cylinder"
                           "cone"
                           "pipe"
                           "beam"
                           "gearwheel"
                           "wirebox"
                 External shapes are specified as DXF-files (only 3DFace is supported).
                 External shapes must be named "1", "2"  etc.. The corresponding definitions
                 should be in files "1.dxf", "2.dxf" etc.Since the DXF-files contain color
                 and dimensions for the individual faces, the corresponding information
                 in the model is currently ignored, but the specular coefficient is
                 utilized. The DXF-files must be found in the current directory.
  r0[3]        : Position vector from the origin of frame_a to the origin
                 of the visual object.
  LengthDirection[3]: Unit vector in direction of length (will be normalized).
  WidthDirection[3] : Unit vector in direction of width (will be normalized).
  Length       : Length of visual shape in [m].
  Width        : Width of visual shape in [m].
  Height       : Height of visual shape in direction of a vector which is
                 orthogonal to  LengthDirection  and  WidthDirection .
  Material[4]  : = {r, g, b, specular} specifies the color of the shape.
                 [r,g,b] affects the color of diffuse and ambient reflected
                 light. Specular is a coefficient defining white specular
                 reflection. What color that is reflected also depends on the
                 color of the light sources. Note, r g, b and specular are
                 given in the range 0 .. 1. Specular=1 gives a metallic appearance.
  Extra        : Additional parameter for cone and pipe.
                 "pipe"     : A hollow cylinder. Extra = InnerRadius/Radius of the cylinder.
                 "gearwheel": A ring with gear wheel teeth. Extra = number of teeth.

In the class, the unit vectors in direction of the shape axes are computed
and are provided as terminal variables to be used in the calling object:
  nLength(3)   : Unit vector in direction of  AxisLength .
  nWidth (3)   : Unit vector orthogonal to  nLength .
  nHeight(3)   : Unit vector orthogonal to  nLength  and  nWidth.