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Merged
tobolar merged 3 commits into from
Jan 12, 2024
Merged

Use vector for visualization of physical quantities #4248

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e72e516
Use Vector for visualization of forces and torques
tobolar Jan 10, 2024
7d555ad
Use Vector for visualization of positions in Sensors and Joints
tobolar Jan 10, 2024
9a76cd9
Use Vector for visualization
tobolar Jan 11, 2024
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4 changes: 2 additions & 2 deletions Modelica/Mechanics/MultiBody/Forces/Force.mo
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Expand Up @@ -34,13 +34,13 @@ model Force
annotation (Dialog(group="if animation = true", enable=animation));

protected
Visualizers.Advanced.Arrow forceArrow(
Visualizers.Advanced.Vector forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
R=frame_b.R,
r=frame_b.r_0,
r_head=-frame_b.f,
coordinates=-frame_b.f,
headAtOrigin=true) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(
shapeType="cylinder",
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9 changes: 5 additions & 4 deletions Modelica/Mechanics/MultiBody/Forces/ForceAndTorque.mo
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Expand Up @@ -47,22 +47,23 @@ model ForceAndTorque
annotation (Dialog(group="if animation = true", enable=animation));

protected
Visualizers.Advanced.Arrow forceArrow(
Visualizers.Advanced.Vector forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
r_head=-frame_b.f) if world.enableAnimation and animation;
Visualizers.Advanced.DoubleArrow torqueArrow(
coordinates=-frame_b.f) if world.enableAnimation and animation;
Visualizers.Advanced.Vector torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
r_head=-frame_b.t) if world.enableAnimation and animation;
twoHeadedArrow=true,
coordinates=-frame_b.t) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(
shapeType="cylinder",
lengthDirection = to_unit1(basicForce.r_0),
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5 changes: 3 additions & 2 deletions Modelica/Mechanics/MultiBody/Forces/Torque.mo
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Expand Up @@ -35,14 +35,15 @@ model Torque
annotation (Dialog(group="if animation = true", enable=animation));

protected
Visualizers.Advanced.DoubleArrow torqueArrow(
Visualizers.Advanced.Vector torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
headAtOrigin=true,
r_head=-frame_b.t) if world.enableAnimation and animation;
twoHeadedArrow=true,
coordinates=-frame_b.t) if world.enableAnimation and animation;
Visualizers.Advanced.Shape connectionLine(
shapeType="cylinder",
lengthDirection = to_unit1(basicTorque.r_0),
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4 changes: 2 additions & 2 deletions Modelica/Mechanics/MultiBody/Forces/WorldForce.mo
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Expand Up @@ -25,14 +25,14 @@ model WorldForce
annotation (Dialog(group="if animation = true", enable=animation));

protected
Visualizers.Advanced.Arrow arrow(
Visualizers.Advanced.Vector arrow(
color=color,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
r_head=-frame_b.f) if world.enableAnimation and animation;
coordinates=-frame_b.f) if world.enableAnimation and animation;

public
Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)
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9 changes: 5 additions & 4 deletions Modelica/Mechanics/MultiBody/Forces/WorldForceAndTorque.mo
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Expand Up @@ -34,21 +34,22 @@ model WorldForceAndTorque
annotation (Dialog(group="if animation = true", enable=animation));

protected
Visualizers.Advanced.Arrow forceArrow(
Visualizers.Advanced.Vector forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
R=frame_b.R,
r=frame_b.r_0,
r_head=-frame_b.f,
coordinates=-frame_b.f,
headAtOrigin=true) if world.enableAnimation and animation;
Visualizers.Advanced.DoubleArrow torqueArrow(
Visualizers.Advanced.Vector torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
R=frame_b.R,
r=frame_b.r_0,
r_head=-frame_b.t,
coordinates=-frame_b.t,
twoHeadedArrow=true,
headAtOrigin=true) if world.enableAnimation and animation;
public
Internal.BasicWorldForce basicWorldForce(resolveInFrame=resolveInFrame)
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5 changes: 3 additions & 2 deletions Modelica/Mechanics/MultiBody/Forces/WorldTorque.mo
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Expand Up @@ -26,14 +26,15 @@ model WorldTorque
annotation (Dialog(group="if animation = true", enable=animation));

protected
Visualizers.Advanced.DoubleArrow arrow(
Visualizers.Advanced.Vector arrow(
color=color,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
headAtOrigin=true,
r_head=-frame_b.t) if world.enableAnimation and animation;
twoHeadedArrow=true,
coordinates=-frame_b.t) if world.enableAnimation and animation;
public
Internal.BasicWorldTorque basicWorldTorque(resolveInFrame=resolveInFrame)
annotation (Placement(transformation(extent={{-10,-10},{10,10}})));
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5 changes: 3 additions & 2 deletions Modelica/Mechanics/MultiBody/Joints/FreeMotion.mo
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Expand Up @@ -64,10 +64,11 @@ model FreeMotion
"Orientation object from frame_a to frame_b at initial time";

protected
Visualizers.Advanced.Arrow arrow(
r_head=r_rel_a,
Visualizers.Advanced.Vector arrow(
coordinates=r_rel_a,
color=arrowColor,
specularCoefficient=specularCoefficient,
quantity=Types.VectorQuantity.RelativePosition,
r=frame_a.r_0,
R=frame_a.R) if world.enableAnimation and animation;

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7 changes: 4 additions & 3 deletions Modelica/Mechanics/MultiBody/Sensors/AbsoluteSensor.mo
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Expand Up @@ -136,10 +136,11 @@ protected
protected
outer Modelica.Mechanics.MultiBody.World world;

Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow(
r_head=frame_a.r_0,
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector arrow(
coordinates=frame_a.r_0,
quantity=Types.VectorQuantity.RelativePosition,
color=arrowColor,
specularCoefficient) if world.enableAnimation and animation;
specularCoefficient=specularCoefficient) if world.enableAnimation and animation;

protected
AbsoluteVelocity absoluteVelocity(resolveInFrame=Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world) if get_a
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4 changes: 2 additions & 2 deletions Modelica/Mechanics/MultiBody/Sensors/CutForce.mo
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Expand Up @@ -23,14 +23,14 @@ model CutForce "Measure cut force vector"
extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor;

protected
Visualizers.Advanced.Arrow forceArrow(
Visualizers.Advanced.Vector forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
r_head=-frame_a.f*(if positiveSign then +1 else -1)) if world.enableAnimation and animation;
coordinates=-frame_a.f*(if positiveSign then +1 else -1)) if world.enableAnimation and animation;

Internal.BasicCutForce cutForce(resolveInFrame=resolveInFrame, positiveSign=
positiveSign)
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9 changes: 5 additions & 4 deletions Modelica/Mechanics/MultiBody/Sensors/CutForceAndTorque.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -38,22 +38,23 @@ model CutForceAndTorque "Measure cut force and cut torque vector"

protected
parameter Integer csign=if positiveSign then +1 else -1;
Visualizers.Advanced.Arrow forceArrow(
Visualizers.Advanced.Vector forceArrow(
color=forceColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Force,
r_head=-frame_a.f*csign) if world.enableAnimation and animation;
Visualizers.Advanced.DoubleArrow torqueArrow(
coordinates=-frame_a.f*csign) if world.enableAnimation and animation;
Visualizers.Advanced.Vector torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
r_head=-frame_a.t*csign) if world.enableAnimation and animation;
twoHeadedArrow=true,
coordinates=-frame_a.t*csign) if world.enableAnimation and animation;
Internal.BasicCutForce cutForce(resolveInFrame=resolveInFrame, positiveSign=
positiveSign)
annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
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5 changes: 3 additions & 2 deletions Modelica/Mechanics/MultiBody/Sensors/CutTorque.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -24,14 +24,15 @@ model CutTorque "Measure cut torque vector"
extends Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor;

protected
Visualizers.Advanced.DoubleArrow torqueArrow(
Visualizers.Advanced.Vector torqueArrow(
color=torqueColor,
specularCoefficient=specularCoefficient,
quantity=Modelica.Mechanics.MultiBody.Types.VectorQuantity.Torque,
R=frame_b.R,
r=frame_b.r_0,
headAtOrigin=true,
r_head=-frame_a.t*(if positiveSign then +1 else -1)) if world.enableAnimation and animation;
twoHeadedArrow=true,
coordinates=-frame_a.t*(if positiveSign then +1 else -1)) if world.enableAnimation and animation;
Internal.BasicCutTorque cutTorque(resolveInFrame=resolveInFrame, positiveSign=
positiveSign)
annotation (Placement(transformation(extent={{-62,-10},{-42,10}})));
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5 changes: 3 additions & 2 deletions Modelica/Mechanics/MultiBody/Sensors/Distance.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,10 @@ model Distance
"Prevent zero-division if distance between frame_a and frame_b is zero"
annotation (Dialog(tab="Advanced"));
protected
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow(
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector arrow(
r=frame_a.r_0,
r_head=frame_b.r_0 - frame_a.r_0,
coordinates=frame_b.r_0 - frame_a.r_0,
quantity=Types.VectorQuantity.RelativePosition,
color=arrowColor,
specularCoefficient=specularCoefficient) if world.enableAnimation and animation;

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11 changes: 6 additions & 5 deletions Modelica/Mechanics/MultiBody/Sensors/RelativeSensor.mo
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Expand Up @@ -136,11 +136,12 @@ protected
protected
outer Modelica.Mechanics.MultiBody.World world;

Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow(
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector arrow(
r=frame_a.r_0,
r_head=frame_b.r_0 - frame_a.r_0,
coordinates=frame_b.r_0 - frame_a.r_0,
quantity=Types.VectorQuantity.RelativePosition,
color=arrowColor,
specularCoefficient) if world.enableAnimation and animation;
specularCoefficient=specularCoefficient) if world.enableAnimation and animation;
equation
connect(relativePosition.frame_a, frame_a) annotation (Line(
points={{-80,0},{-100,0}},
Expand Down Expand Up @@ -211,7 +212,7 @@ equation
color={95,95,95},
pattern=LinePattern.Dot));
connect(frame_resolve, relativePosition.frame_resolve) annotation (Line(
points={{100,80},{50,80},{50,20},{-30,20},{-30,8.1},{-60,8.1}},
points={{100,80},{50,80},{50,20},{-30,20},{-30,8},{-60,8}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(frame_resolve, zeroForce3.frame_a) annotation (Line(
Expand All @@ -220,7 +221,7 @@ equation
pattern=LinePattern.Dot));
connect(relativeAngularVelocity.frame_resolve, frame_resolve) annotation (
Line(
points={{70,-21.9},{70,-21.9},{70,20},{50,20},{50,80},{100,80}},
points={{70,-22},{70,-22},{70,20},{50,20},{50,80},{100,80}},
color={95,95,95},
pattern=LinePattern.Dot));
connect(der2.y, transformVector_a_rel.r_in) annotation (Line(
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7 changes: 3 additions & 4 deletions Modelica/Mechanics/MultiBody/Visualizers/SignalArrow.mo
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Expand Up @@ -28,11 +28,10 @@ model SignalArrow
rotation=90)));

protected
Visualizers.Advanced.Arrow arrow(
Visualizers.Advanced.Vector arrow(
R=frame_a.R,
r=frame_a.r_0,
r_tail=r_tail,
r_head=r_head,
r=frame_a.r_0 + Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.resolve1(frame_a.R.T, r_tail),
coordinates=r_head,
color=color,
quantity=quantity,
headAtOrigin=headAtOrigin,
Expand Down