model WorldForceAndTorque "External force and torque acting at frame_b, defined by 3+3 input signals and resolved in frame world, frame_b or in frame_resolve"
import Modelica.Mechanics.MultiBody.Types;
extends Interfaces.PartialOneFrame_b;
Interfaces.Frame_resolve frame_resolve if resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve "The input signals are optionally resolved in this frame"
annotation (Placement(transformation(
origin = {0, 100},
extent = {
{16, -16},
{-16, 16}},
rotation = 270)));
Blocks.Interfaces.RealInput force[3](each final quantity = "Force", each final unit = "N") "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(extent = {
{-140, -80},
{-100, -40}})));
Blocks.Interfaces.RealInput torque[3](each final quantity = "Torque", each final unit = "N.m") "x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
annotation (Placement(transformation(extent = {
{-140, 40},
{-100, 80}})));
parameter Boolean animation = true "= true, if animation shall be enabled";
parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrameB resolveInFrame = Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.world "Frame in which input force and torque are resolved (1: world, 2: frame_b, 3: frame_resolve)";
parameter Real N_to_m(unit = "N/m") = world.defaultN_to_m "Force arrow scaling (length = force/N_to_m)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
parameter Real Nm_to_m(unit = "N.m/m") = world.defaultNm_to_m "Torque arrow scaling (length = torque/Nm_to_m)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input SI.Diameter forceDiameter = world.defaultArrowDiameter "Diameter of force arrow"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input SI.Diameter torqueDiameter = forceDiameter "Diameter of torque arrow"
annotation (Dialog(
group = "if animation = true",
enable = animation));
input Types.Color forceColor = Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor "Color of force arrow"
annotation (Dialog(
colorSelector = true,
group = "if animation = true",
enable = animation));
input Types.Color torqueColor = Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor "Color of torque arrow"
annotation (Dialog(
colorSelector = true,
group = "if animation = true",
enable = animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient "Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(
group = "if animation = true",
enable = animation));
protected
SI.Position f_in_m[3] = frame_b.f / N_to_m "Force mapped from N to m for animation";
SI.Position t_in_m[3] = frame_b.t / Nm_to_m "Torque mapped from Nm to m for animation";
Visualizers.Advanced.Arrow forceArrow(diameter = forceDiameter, color = forceColor, specularCoefficient = specularCoefficient, R = frame_b.R, r = frame_b.r_0, r_tail = f_in_m, r_head = -f_in_m) if world.enableAnimation and animation;
Visualizers.Advanced.DoubleArrow torqueArrow(diameter = torqueDiameter, color = torqueColor, specularCoefficient = specularCoefficient, R = frame_b.R, r = frame_b.r_0, r_tail = t_in_m, r_head = -t_in_m) if world.enableAnimation and animation;
public
Internal.BasicWorldForce basicWorldForce(resolveInFrame = resolveInFrame) annotation (Placement(transformation(extent = {
{18, -50},
{38, -70}})));
Internal.BasicWorldTorque basicWorldTorque(resolveInFrame = resolveInFrame) annotation (Placement(transformation(extent = {
{-10, 50},
{10, 70}})));
protected
Interfaces.ZeroPosition zeroPosition if not resolveInFrame == Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_resolve annotation (Placement(transformation(extent = {
{58, 70},
{78, 90}})));
equation
connect(basicWorldForce.force,force) annotation (Line(
points = {
{16, -60},
{-120, -60}},
color = {0, 0, 127}));
connect(basicWorldForce.frame_b,frame_b) annotation (Line(
points = {
{38, -60},
{60, -60},
{60, 0},
{100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(basicWorldForce.frame_resolve,frame_resolve) annotation (Line(
points = {
{28, -50},
{28, 80},
{0, 80},
{0, 100}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(basicWorldTorque.frame_b,frame_b) annotation (Line(
points = {
{10, 60},
{60, 60},
{60, 0},
{100, 0}},
color = {95, 95, 95},
thickness = 0.5));
connect(basicWorldTorque.torque,torque) annotation (Line(
points = {
{-12, 60},
{-120, 60}},
color = {0, 0, 127}));
connect(basicWorldTorque.frame_resolve,frame_resolve) annotation (Line(
points = {
{0, 70},
{0, 100}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(zeroPosition.frame_resolve,basicWorldForce.frame_resolve) annotation (Line(
points = {
{58, 80},
{40, 80},
{40, -40},
{28, -40},
{28, -50}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
connect(zeroPosition.frame_resolve,basicWorldTorque.frame_resolve) annotation (Line(
points = {
{58, 80},
{0, 80},
{0, 70}},
color = {95, 95, 95},
pattern = LinePattern.Dot));
annotation (
defaultComponentName = "forceAndTorque",
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}}),
graphics = {
Text(
extent = {
{-63, 56},
{44, 19}},
lineColor = {192, 192, 192},
textString = "resolve"),
Text(
extent = {
{-150, -75},
{150, -115}},
textString = "%name",
lineColor = {0, 0, 255}),
Line(
points = {
{-100, 60},
{-86, 68},
{-80, 72},
{-70, 78},
{-64, 82},
{-46, 86},
{-34, 88},
{-16, 88},
{-2, 86},
{12, 80},
{24, 74},
{34, 68},
{46, 58},
{52, 54},
{58, 48}},
thickness = 0.5),
Polygon(
points = {
{89, 17},
{64, 76},
{30, 41},
{89, 17}},
fillPattern = FillPattern.Solid),
Line(
points = {
{0, 95},
{0, -26}},
color = {95, 95, 95},
pattern = LinePattern.Dot),
Line(
points = {
{0, 0},
{96, 0}},
color = {95, 95, 95},
pattern = LinePattern.Dot),
Polygon(
points = {
{-104, -48},
{54, 0},
{46, 20},
{96, 0},
{66, -42},
{60, -22},
{-96, -72},
{-104, -48}},
fillPattern = FillPattern.Solid)}),
Documentation(info = "<html>\n<p>\nThe <strong>3</strong> signals of the <strong>force</strong> and <strong>torque</strong>\nconnector are interpreted\nas the x-, y- and z-coordinates of a <strong>force</strong> and\n<strong>torque</strong> acting at the frame\nconnector to which frame_b of this component is attached.\nVia parameter <strong>resolveInFrame</strong> it is defined, in which frame these\ncoordinates shall be resolved:\n</p>\n\n<table border=1 cellspacing=0 cellpadding=2>\n<tr><th><strong>Types.ResolveInFrameB.</strong></th><th><strong>Meaning</strong></th></tr>\n<tr><td>world</td>\n <td>Resolve input force and torque in world frame (= default)</td></tr>\n\n<tr><td>frame_b</td>\n <td>Resolve input force and torque in frame_b</td></tr>\n\n<tr><td>frame_resolve</td>\n <td>Resolve input force and torque in frame_resolve\n (frame_resolve must be connected)</td></tr>\n</table>\n\n<p>\nIf resolveInFrame = Types.ResolveInFrameB.frame_resolve, the force and\ntorque coordinates\nare with respect to the frame, that is connected to <strong>frame_resolve</strong>.\n</p>\n\n<p>\nIf force={100,0,0}, and for all parameters the default setting is used,\nthen the interpretation is that a force of 100 N is acting along the positive\nx-axis of frame_b.\n</p>\n\n<p>\nConceptually, a force and torque acts on the world frame in such a way that\nthe force and torque balance between world.frame_b and frame_b is fulfilled.\nFor efficiency reasons, this reaction torque is, however, not computed.\n</p>\n\n<p>\nThe force and torque are by default visualized as an arrow (force)\nand as a double arrow (torque) acting at the connector to which\nthey are connected. The diameters\nand colors of the arrows can be defined via\nvariables <strong>forceDiameter</strong>, <strong>torqueDiameter</strong>,\n<strong>forceColor</strong> and <strong>torqueColor</strong>. The arrows\npoint in the directions defined by the\nforce and torque vectors. The lengths of the arrows are proportional\nto the length of the force and torque vectors, respectively, using parameters\n<strong>N_to_m</strong> and <strong>Nm_to_m</strong> as scaling factors. For example, if N_to_m = 100 N/m,\nthen a force of 350 N is displayed as an arrow of length 3.5 m.\n</p>\n<p>\nAn example how to use this model is given in the\nfollowing figure:\n</p>\n\n<p>\n<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForceAndTorque1.png\">\n</p>\n\n<p>\nThis leads to the following animation\n</p>\n\n<p>\n<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForceAndTorque2.png\">\n</p>\n\n</html>"));
end WorldForceAndTorque;