Model PlanarWorld defines all possible general parameters to make parameterization of models much more convenient. It has the following functionalites.

  1. It defines the global coordinate system fixed in ground and shows the x, y, z axes in animation if wanted.
  2. It contains all default parameters for animation, e.g. axis diameter, default joint length etc, which can still be overwritten by setting parameters in these models.
  3. It provides the default gravity definition and its animation.

The planar world can optionally be coupled to a 3D-Multibody connector. This will affect visualization mainly. Beware! The physics of the planar world presume the inertial system to be non-accelerated. When connecting to an accelerated MultiBody connector the physical forces going along with this acceleration are thus neglected.

For physical coupling between 2D and 3D system use Interfaces.PlanarToMultiBody

The gravity vector can be inherited from the MultiBody world component. In this case, the vector is determined once for the origin of the planar world system and then applied to all body components (if enabled there, as default).


DLR logo Developed 2010 at the DLR Institute of System Dynamics and Control

Generated at 2024-04-20T18:15:51Z by OpenModelicaOpenModelica 1.22.3 using GenerateDoc.mos