Package Modelica.​Mechanics.​MultiBody.​Types
Constants and types with choices, especially to build menus

Information

In this package types and constants are defined that are used in the MultiBody library. The types have additional annotation choices definitions that define the menus to be built up in the graphical user interface when the type is used as parameter in a declaration.

Extends from Modelica.​Icons.​TypesPackage (Icon for packages containing type definitions).

Package Contents

NameDescription
Axis[3]Axis vector with choices
AxisLabelLabel of axis with choices
Color[3]RGB representation of color
Defaults …Default settings of the MultiBody library via constants
GravityTypesEnumeration defining the type of the gravity field
Init 
RealColor[3]RGB representation of color as Real type
ResolveInFrameAEnumeration to define the frame in which an absolute vector is resolved (world, frame_a, frame_resolve)
ResolveInFrameABEnumeration to define the frame in which a relative vector is resolved (world, frame_a, frame_b, frame_resolve)
ResolveInFrameBEnumeration to define the frame in which an absolute vector is resolved (world, frame_b, frame_resolve)
RotationSequence[3]Sequence of planar frame rotations with choices
RotationTypesEnumeration defining in which way the fixed orientation of frame_b with respect to frame_a is specified
ShapeExtraType of the additional data that can be defined for an elementary ShapeType
ShapeTypeType of shape (box, sphere, cylinder, pipecylinder, cone, pipe, beam, gearwheel, spring, <external shape>)
SpecularCoefficientReflection of ambient light (= 0: light is completely absorbed)

Type Modelica.​Mechanics.​MultiBody.​Types.​Axis
Axis vector with choices

Information

Type definition of an axis vector with scroll down menu that provides the most often used axes vectors along the coordinate axes of a frame. For an example see parameter "n" in model Joints.Revolute.

Extends from Modelica.​Icons.​TypeReal (Icon for Real types).

Attributes

NameValue
unit"1"
min-Modelica.Constants.inf
maxModelica.Constants.inf
start0.

Type Modelica.​Mechanics.​MultiBody.​Types.​AxisLabel
Label of axis with choices

Information

This icon is designed for a String type.

Extends from Modelica.​Icons.​TypeString (Icon for String types).

Attributes

NameValue
start""

Type Modelica.​Mechanics.​MultiBody.​Types.​RotationSequence
Sequence of planar frame rotations with choices

Information

This icon is designed for an Integer type.

Extends from Modelica.​Icons.​TypeInteger (Icon for Integer types).

Attributes

NameValue
min{1, 1, 1}
max{3, 3, 3}
start0

Type Modelica.​Mechanics.​MultiBody.​Types.​Color
RGB representation of color

Information

Type Color is an Integer vector with 3 elements, {r, g, b}, and specifies the color of a shape. {r,g,b} are the "red", "green" and "blue" color parts. Note, r g, b are given in the range 0 .. 255.

Extends from Modelica.​Icons.​TypeInteger (Icon for Integer types).

Attributes

NameValue
min0
max255
start0

Type Modelica.​Mechanics.​MultiBody.​Types.​RealColor
RGB representation of color as Real type

Information

Type RealColor is a Real vector with 3 elements, {r, g, b}, and specifies the color of a shape. {r,g,b} are the "red", "green" and "blue" color parts. Note, r g, b are given in the range 0 .. 255.

Extends from Modelica.​Icons.​TypeReal (Icon for Real types).

Attributes

NameValue
min0
max255
start0.

Type Modelica.​Mechanics.​MultiBody.​Types.​SpecularCoefficient
Reflection of ambient light (= 0: light is completely absorbed)

Information

Type SpecularCoefficient defines the reflection of ambient light on shape surfaces. If value = 0, the light is completely absorbed. Often, 0.7 is a reasonable value. It might be that from some viewing directions, a body is no longer visible, if the SpecularCoefficient value is too high. In the following image, the different values of SpecularCoefficient are shown for a cylinder:

Extends from Modelica.​Icons.​TypeReal (Icon for Real types).

Attributes

NameValue
min0
maxModelica.Constants.inf
start0.

Type Modelica.​Mechanics.​MultiBody.​Types.​ShapeType
Type of shape (box, sphere, cylinder, pipecylinder, cone, pipe, beam, gearwheel, spring, <external shape>)

Information

Type ShapeType is used to define the shape of the visual object as parameter String. Usually, "shapeType" is used as instance name. The following values for shapeType are possible, e.g., shapeType="box":

model Visualizers.FixedShape

The dark blue arrows in the figure above are directed along variable lengthDirection. The light blue arrows are directed along variable widthDirection. The coordinate systems in the figure represent frame_a of the Shape component.

Additionally, external shapes can be specified as (not all options might be supported by all tools):

The supported file formats are tool dependent. Most tools support at least DXF-files (a tool might support 3-dim. Face of the DXF format only), but may support other format as well (such as stl, obj, 3ds). Since visualization files contain color and other data, the corresponding information in the model is usually ignored.

Extends from Modelica.​Icons.​TypeString (Icon for String types).

Attributes

NameValue
start""

Type Modelica.​Mechanics.​MultiBody.​Types.​ShapeExtra
Type of the additional data that can be defined for an elementary ShapeType

Information

This type is used in shapes of visual objects to define extra data depending on the shape type. Usually, input variable extra is used as instance name:

shapeTypeMeaning of parameter extra
"cylinder" if extra > 0, a black line is included in the cylinder to show the rotation of it.
"cone" extra = diameter-left-side / diameter-right-side, i.e.,
extra = 1: cylinder
extra = 0: "real" cone.
"pipe" extra = outer-diameter / inner-diameter, i.e,
extra = 1: cylinder that is completely hollow
extra = 0: cylinder without a hole.
"gearwheel" extra is the number of teeth of the (external) gear. If extra < 0, an internal gear is visualized with |extra| teeth. The axis of the gearwheel is along "lengthDirection", and usually: width = height = 2*radiusOfGearWheel.
"spring" extra is the number of windings of the spring. Additionally, "height" is not the "height" but 2*coil-width.
external shape extra = 0: Visualization from file is not scaled.
extra = 1: Visualization from file is scaled with "length", "width" and "height" of the shape

Extends from Modelica.​Icons.​TypeReal (Icon for Real types).

Attributes

NameValue
min-Modelica.Constants.inf
maxModelica.Constants.inf
start0.

Enumeration Modelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameA
Enumeration to define the frame in which an absolute vector is resolved (world, frame_a, frame_resolve)

Information

Types.ResolveInFrameA.Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_resolve Resolve vector in frame_resolve (frame_resolve must be connected)

Literals

NameDescription
worldResolve in world frame
frame_aResolve in frame_a
frame_resolveResolve in frame_resolve (frame_resolve must be connected)

Enumeration Modelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameB
Enumeration to define the frame in which an absolute vector is resolved (world, frame_b, frame_resolve)

Information

Types.ResolveInFrameB.Meaning
world Resolve vector in world frame
frame_b Resolve vector in frame_b
frame_resolve Resolve vector in frame_resolve (frame_resolve must be connected)

Literals

NameDescription
worldResolve in world frame
frame_bResolve in frame_b
frame_resolveResolve in frame_resolve (frame_resolve must be connected)

Enumeration Modelica.​Mechanics.​MultiBody.​Types.​ResolveInFrameAB
Enumeration to define the frame in which a relative vector is resolved (world, frame_a, frame_b, frame_resolve)

Information

Types.ResolveInFrameAB.Meaning
world Resolve vector in world frame
frame_a Resolve vector in frame_a
frame_b Resolve vector in frame_b
frame_resolve Resolve vector in frame_resolve (frame_resolve must be connected)

Literals

NameDescription
worldResolve in world frame
frame_aResolve in frame_a
frame_bResolve in frame_b
frame_resolveResolve in frame_resolve (frame_resolve must be connected)

Enumeration Modelica.​Mechanics.​MultiBody.​Types.​RotationTypes
Enumeration defining in which way the fixed orientation of frame_b with respect to frame_a is specified

Information

Types.RotationTypes.Meaning
RotationAxis frame_b is defined by rotating the coordinate system along an axis fixed in frame_a and with a fixed angle.
TwoAxesVectors frame_b is defined by resolving two vectors of frame_b in frame_a.
PlanarRotationSequence frame_b is defined by rotating the coordinate system along 3 consecutive axes vectors with fixed rotation angles (e.g., Cardan or Euler angle sequence rotation).

Literals

NameDescription
RotationAxisRotating frame_a around an angle with a fixed axis
TwoAxesVectorsResolve two vectors of frame_b in frame_a
PlanarRotationSequencePlanar rotation sequence

Enumeration Modelica.​Mechanics.​MultiBody.​Types.​GravityTypes
Enumeration defining the type of the gravity field

Information

Types.GravityTypes.Meaning
NoGravity No gravity field
UniformGravity Gravity field is described by a vector of constant gravity acceleration
PointGravity Central gravity field. The gravity acceleration vector is directed to the field center and the gravity is proportional to 1/r^2, where r is the distance to the field center.

Literals

NameDescription
NoGravityNo gravity field
UniformGravityUniform gravity field
PointGravityPoint gravity field

Enumeration Modelica.​Mechanics.​MultiBody.​Types.​Init

Literals

NameDescription
Free 
PositionVelocity 
SteadyState 
Position 
Velocity 
VelocityAcceleration 
PositionVelocityAcceleration