model PlanarWorld "Planar world coordinate system + gravity field + default animation definition"
SI.Position r_0[3] "Position vector from world frame to the connector frame origin, resolved in world frame";
MB.Frames.Orientation R "Orientation object to rotate the world frame into the connector frame";
parameter SI.Acceleration constantGravity[2] = {0, -9.81} "Constant gravity acceleration vector resolved in world frame"
annotation (Dialog(group = "Gravity"));
parameter Boolean enableAnimation = true "= true, if animation of all components is enabled"
annotation (
Evaluate = true,
HideResult = true,
choices(checkBox = true),
Dialog(group = "Animation (General)"));
parameter Boolean animateWorld = true "= true, if world coordinate system shall be visualized"
annotation (
HideResult = true,
choices(checkBox = true),
Dialog(
group = "Animation (General)",
enable = enableAnimation));
parameter Boolean animateGravity = true "= true, if gravity field shall be visualized (acceleration vector or field center)"
annotation (
HideResult = true,
choices(checkBox = true),
Dialog(
group = "Animation (General)",
enable = enableAnimation));
parameter String label1 = "x" "Label of horizontal axis in icon"
annotation (Dialog(group = "Animation (General)"));
parameter String label2 = "y" "Label of vertical axis in icon"
annotation (Dialog(group = "Animation (General)"));
SI.Acceleration g[2] "Constant gravity acceleration vector resolved in world frame";
parameter SI.Length axisLength = 0.5 * nominalLength "Length of world axes arrows"
annotation (Dialog(
tab = "Animation",
group = "If animateWorld = true",
enable = enableAnimation and animateWorld));
parameter SI.Diameter axisDiameter = axisLength / defaultFrameDiameterFraction "Diameter of world axes arrows"
annotation (Dialog(
tab = "Animation",
group = "If animateWorld = true",
enable = enableAnimation and animateWorld));
parameter Boolean axisShowLabels = true "= true, if labels shall be shown"
annotation (Dialog(
tab = "Animation",
group = "If animateWorld = true",
enable = enableAnimation and animateWorld));
parameter MB.Types.Color axisColor_x = Types.Defaults.FrameColor "Color of x-arrow"
annotation (
HideResult = true,
Dialog(
colorSelector = true,
tab = "Animation",
group = "If animateWorld = true",
enable = enableAnimation and animateWorld));
parameter MB.Types.Color axisColor_y = axisColor_x "Color of y-arrow"
annotation (
HideResult = true,
Dialog(
colorSelector = true,
tab = "Animation",
group = "If animateWorld = true",
enable = enableAnimation and animateWorld));
parameter MB.Types.Color axisColor_z = axisColor_x "Color of z-arrow"
annotation (
HideResult = true,
Dialog(
colorSelector = true,
tab = "Animation",
group = "If animateWorld = true",
enable = enableAnimation and animateWorld));
parameter SI.Position gravityArrowTail[2] = {0, 0} "Position vector from origin of world frame to arrow tail, resolved in world frame"
annotation (Dialog(
tab = "Animation",
group = "If animateGravity = true",
enable = enableAnimation and animateGravity));
parameter SI.Length gravityArrowLength = 0.5 * axisLength "Length of gravity arrow"
annotation (Dialog(
tab = "Animation",
group = "If animateGravity = true",
enable = enableAnimation and animateGravity));
parameter SI.Diameter gravityArrowDiameter = gravityArrowLength / defaultWidthFraction "Diameter of gravity arrow"
annotation (Dialog(
tab = "Animation",
group = "If animateGravity = true",
enable = enableAnimation and animateGravity));
parameter MB.Types.Color gravityArrowColor = {0, 180, 0} "Color of gravity arrow"
annotation (
HideResult = true,
Dialog(
colorSelector = true,
tab = "Animation",
group = "If animateGravity = true",
enable = enableAnimation and animateGravity));
parameter SI.Length defaultZPosition = 0 "Default for z positions of all the elements"
annotation (Dialog(tab = "Defaults"));
parameter SI.Length nominalLength = 1 "\"Nominal\" length of PlanarMechanics"
annotation (Dialog(tab = "Defaults"));
parameter SI.Length defaultJointLength = 0.1 * nominalLength "Default for the fixed length of a shape representing a joint"
annotation (Dialog(tab = "Defaults"));
parameter SI.Length defaultJointWidth = 0.1 * nominalLength "Default for the fixed width of a shape representing a joint"
annotation (Dialog(tab = "Defaults"));
parameter SI.Diameter defaultBodyDiameter = 0.111111111111111 * nominalLength "Default for diameter of sphere representing the center of mass of a body"
annotation (Dialog(tab = "Defaults"));
parameter Real defaultWidthFraction = 20 "Default for shape width as a fraction of shape length (e.g., for Parts.FixedTranslation)"
annotation (Dialog(tab = "Defaults"));
parameter SI.Diameter defaultArrowDiameter = 0.025 * nominalLength "Default for arrow diameter (e.g., of forces, torques, sensors)"
annotation (Dialog(tab = "Defaults"));
parameter SI.Length defaultForceLength = 0.1 * nominalLength "Default for the fixed length of a shape representing a force (e.g., damper)"
annotation (Dialog(tab = "Defaults"));
parameter SI.Length defaultForceWidth = 0.05 * nominalLength "Default for the fixed width of a shape represening a force (e.g., spring, bushing)"
annotation (Dialog(tab = "Defaults"));
parameter Real defaultFrameDiameterFraction = 40 "Default for arrow diameter of a coordinate system as a fraction of axis length"
annotation (Dialog(tab = "Defaults"));
parameter MB.Types.SpecularCoefficient defaultSpecularCoefficient(min = 0) = 0.7 "Default reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(tab = "Defaults"));
parameter Real defaultN_to_m(unit = "N/m", min = 0) = 1000 "Default scaling of force arrows (length = force/defaultN_to_m)"
annotation (Dialog(tab = "Defaults"));
parameter Real defaultNm_to_m(unit = "N.m/m", min = 0) = 1000 "Default scaling of torque arrows (length = torque/defaultNm_to_m)"
annotation (Dialog(tab = "Defaults"));
protected
parameter Integer ndim = if enableAnimation and animateWorld then 1 else 0;
parameter Integer ndim2 = if enableAnimation and animateWorld and axisShowLabels then 1 else 0;
parameter SI.Length scaledLabel = Modelica.Mechanics.MultiBody.Types.Defaults.FrameLabelHeightFraction * axisDiameter;
parameter SI.Length labelStart = 1.05 * axisLength;
Visualizers.Internal.CoordinateSystem coordinateSystem(r = r_0, R = R, r_shape = zeros(3), axisLength = axisLength, axisDiameter = axisDiameter, axisShowLabels = axisShowLabels, scaledLabel = scaledLabel, labelStart = labelStart, color_x = axisColor_x, color_y = axisColor_y, color_z = axisColor_z) if enableAnimation and animateWorld;
Visualizers.Internal.Arrow gravityArrow(r = r_0, R = R, r_tail = {gravityArrowTail[1], gravityArrowTail[2], 0}, r_head = gravityArrowLength * Modelica.Math.Vectors.normalize({g[1], g[2], 0}), diameter = gravityArrowDiameter, color = gravityArrowColor, specularCoefficient = 0) if enableAnimation and animateGravity;
equation
R = MB.Frames.nullRotation();
g = constantGravity;
r_0 = {0, 0, 0};
annotation (
defaultComponentName = "planarWorld",
defaultComponentPrefixes = "inner",
missingInnerMessage = "No \"world\" component is defined. A default world\ncomponent with the default gravity field will be used\n(g=9.81 in negative y-axis). If this is not desired,\ndrag PlanarMechanics.PlanarWorld into the top level of your model.",
Icon(
coordinateSystem(
preserveAspectRatio = true,
extent = {
{-100, -100},
{100, 100}},
grid = {2, 2}),
graphics = {
Rectangle(
extent = {
{-100, 100},
{100, -100}},
fillColor = {255, 255, 255},
fillPattern = FillPattern.Solid),
Line(
points = {
{-100, -118},
{-100, 61}},
thickness = 0.5),
Polygon(
points = {
{-100, 100},
{-120, 60},
{-80, 60},
{-100, 100},
{-100, 100}},
fillPattern = FillPattern.Solid),
Line(
points = {
{-119, -100},
{59, -100}},
thickness = 0.5),
Polygon(
points = {
{99, -100},
{59, -80},
{59, -120},
{99, -100}},
fillPattern = FillPattern.Solid),
Text(
extent = {
{-150, 145},
{150, 105}},
textString = "%name",
textColor = {0, 0, 255}),
Text(
extent = {
{95, -113},
{144, -162}},
textString = "%label1"),
Text(
extent = {
{-170, 127},
{-119, 77}},
textString = "%label2"),
Line(
points = {
{-56, 60},
{-56, -26}},
color = {0, 0, 255}),
Polygon(
points = {
{-68, -8},
{-56, -48},
{-44, -8},
{-68, -8}},
fillColor = {0, 0, 255},
fillPattern = FillPattern.Solid,
lineColor = {0, 0, 255}),
Line(
points = {
{2, 60},
{2, -26}},
color = {0, 0, 255}),
Polygon(
points = {
{-10, -8},
{2, -48},
{14, -8},
{-10, -8}},
fillColor = {0, 0, 255},
fillPattern = FillPattern.Solid,
lineColor = {0, 0, 255}),
Line(
points = {
{66, 60},
{66, -26}},
color = {0, 0, 255}),
Polygon(
points = {
{54, -8},
{66, -48},
{78, -8},
{54, -8}},
fillColor = {0, 0, 255},
fillPattern = FillPattern.Solid,
lineColor = {0, 0, 255}),
Text(
extent = {
{-80, 90},
{80, 60}},
textColor = {0, 0, 0},
textString = "2-dim."),
Text(
extent = {
{-100, -50},
{100, -80}},
textColor = {0, 0, 0},
textString = "g=%constantGravity")}),
Documentation(
revisions = "<html>\n<p>\n<img src=\"modelica://PlanarMechanics/Resources/Images/dlr_logo.png\" alt=\"DLR logo\">\n<strong>Developed 2010 at the DLR Institute of System Dynamics and Control</strong>\n</p>\n</html>",
info = "<html>\n<p>Model <strong>PlanarWorld</strong> defines all possible general parameters to make parameterization of models much more convenient. It has the following functionalites.</p>\n<ol>\n <li> It defines the global coordinate system fixed in ground and shows the\n x, y, z axes in animation if wanted.</li>\n <li> It contains all default parameters for animation, e.g. axis diameter, default\n joint length etc, which can still be overwritten by setting parameters in these\n models.</li>\n <li> It provides the default gravity definition and its animation.</li>\n</ol>\n<p><br>The pure planar world cannot be coupled to the 3D world. It shall be used when no outer 3D world is available.</p>\n</html>"));
end PlanarWorld;