ModelicaAdditions.MultiBody.Visualizers

For animation of across vector quantities.

ModelicaAdditions.MultiBody.Visualizers.Velocity ModelicaAdditions.MultiBody.Visualizers.Acceleration ModelicaAdditions.MultiBody.Visualizers.AngularVelocity ModelicaAdditions.MultiBody.Visualizers.AngularAcceleration ModelicaAdditions.MultiBody.Visualizers.ForceTorqueSensor ModelicaAdditions.MultiBody.Visualizers.ForceSensor ModelicaAdditions.MultiBody.Visualizers.TorqueSensor

Information

Special classes that store
vector, acceleration, angular velocity,
and angular acceleration at a cut.

By connecting these to a cut they animate the
relevant quantities in the cut.

The class also contain sensors for forces, torques,
and a sensor that measure both forces and torques.

Note that these sensors measure the forces and torques
transmitted through the sensor. This is necessary
since forces and torques are flow quantities.


ModelicaAdditions.MultiBody.Visualizers.Velocity ModelicaAdditions.MultiBody.Visualizers.Velocity

ModelicaAdditions.MultiBody.Visualizers.Velocity

Modelica definition

model Velocity 
  extends Interfaces.OneFrame_a;
  VisualVector velocity(
    Material={0,0,1,0.5}, 
    category="velocity", 
    r=r0a, 
    Size=va, 
    S=Sa);
equation 
  fa = zeros(3);
  ta = zeros(3);
end Velocity;

ModelicaAdditions.MultiBody.Visualizers.Acceleration ModelicaAdditions.MultiBody.Visualizers.Acceleration

ModelicaAdditions.MultiBody.Visualizers.Acceleration

Modelica definition

model Acceleration 
  extends Interfaces.OneFrame_a;
  VisualVector acceleration(
    Material={1,1,0,0.5}, 
    category="acceleration", 
    r=r0a, 
    Size=aa, 
    S=Sa);
equation 
  fa = zeros(3);
  ta = zeros(3);
end Acceleration;

ModelicaAdditions.MultiBody.Visualizers.AngularVelocity ModelicaAdditions.MultiBody.Visualizers.AngularVelocity

ModelicaAdditions.MultiBody.Visualizers.AngularVelocity

Modelica definition

model AngularVelocity 
  extends Interfaces.OneFrame_a;
  VisualVector angular_velocity(
    Material={0,1,1,0.5}, 
    category="angular velocity", 
    r=r0a, 
    Size=wa, 
    S=Sa);
equation 
  fa = zeros(3);
  ta = zeros(3);
end AngularVelocity;

ModelicaAdditions.MultiBody.Visualizers.AngularAcceleration ModelicaAdditions.MultiBody.Visualizers.AngularAcceleration

ModelicaAdditions.MultiBody.Visualizers.AngularAcceleration

Modelica definition

model AngularAcceleration 
  extends Interfaces.OneFrame_a;
  VisualVector angular_acceleration(
    Material={1,0,1,0.5}, 
    category="angular acceleration", 
    r=r0a, 
    Size=za, 
    S=Sa);
equation 
  fa = zeros(3);
  ta = zeros(3);
end AngularAcceleration;

ModelicaAdditions.MultiBody.Visualizers.ForceTorqueSensor ModelicaAdditions.MultiBody.Visualizers.ForceTorqueSensor

ModelicaAdditions.MultiBody.Visualizers.ForceTorqueSensor

Modelica definition

model ForceTorqueSensor 
  extends Interfaces.TwoTreeFrames;
  VisualVector force(
    category="force", 
    r=r0a, 
    Size=fa, 
    S=Sa);
  VisualVector torque(
    Material={0,1,0,0.5}, 
    category="torque", 
    r=r0a, 
    Size=ta, 
    S=Sa);
equation 
  Sb = Sa;
  wb = wa;
  zb = za;
  
  r0b = r0a;
  vb = va;
  ab = aa;
  fa = fb;
  ta = tb;
end ForceTorqueSensor;

ModelicaAdditions.MultiBody.Visualizers.ForceSensor ModelicaAdditions.MultiBody.Visualizers.ForceSensor

ModelicaAdditions.MultiBody.Visualizers.ForceSensor

Modelica definition

model ForceSensor 
  extends Interfaces.TwoTreeFrames;
  VisualVector force(
    category="force", 
    r=r0a, 
    Size=fa, 
    S=Sa);
equation 
  // Similar to FrameTranslation with r=0.
  Sb = Sa;
  wb = wa;
  zb = za;
  
  r0b = r0a;
  vb = va;
  ab = aa;
  fa = fb;
  ta = tb;
end ForceSensor;

ModelicaAdditions.MultiBody.Visualizers.TorqueSensor ModelicaAdditions.MultiBody.Visualizers.TorqueSensor

ModelicaAdditions.MultiBody.Visualizers.TorqueSensor

Modelica definition

model TorqueSensor 
  extends Interfaces.TwoTreeFrames;
  VisualVector torque(
    Material={0,1,0,0.5}, 
    category="torque", 
    r=r0a, 
    Size=ta, 
    S=Sa);
equation 
  // Similar to FrameTranslation with r=0.
  Sb = Sa;
  wb = wa;
  zb = za;
  
  r0b = r0a;
  vb = va;
  ab = aa;
  fa = fb;
  ta = tb;
end TorqueSensor;

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