 | BevelGear1D
1D gearbox with arbitrary shaft directions and 3-dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true) |
 | Body
Rigid body with mass, inertia tensor and one frame connector (12 potential states) |
 | BodyBox
Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states) |
 | BodyCylinder
Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states) |
 | BodyShape
Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states) |
 | Fixed
Frame fixed in the world frame at a given position |
 | FixedRotation
Fixed translation followed by a fixed rotation of frame_b with respect to frame_a |
 | FixedTranslation
Fixed translation of frame_b with respect to frame_a |
 | Mounting1D
Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true) |
 | PointMass
Rigid body where body rotation and inertia tensor is neglected (6 potential states) |
 | RollingWheel
Ideal rolling wheel on flat surface z=0 (5 positional, 3 velocity degrees of freedom) |
 | RollingWheelSet
Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis |
 | Rotor1D
1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true) |
Package Parts contains rigid components of a
multi-body system. These components may be used to build up
more complicated structures. For example, a part may be built up of
a "Body" and of several "FixedTranslation" components.
Content
| Model | Description |
|---|
| Fixed |
Frame fixed in world frame at a given position.
It is visualized with a shape, see shapeType below
(the frames on the two
sides do not belong to the component):
|
| FixedTranslation |
Fixed translation of frame_b with respect to frame_a.
It is visualized with a shape, see shapeType below
(the frames on the two sides do not belong to the component):
|
| FixedRotation |
Fixed translation and fixed rotation of frame_b with respect to frame_a
It is visualized with a shape, see shapeType below
(the frames on the two sides do not belong to the component):
|
| Body |
Rigid body with mass, inertia tensor and one frame connector.
It is visualized with a cylinder and a sphere at the
center of mass:
|
| BodyShape |
Rigid body with mass, inertia tensor, different shapes
(see shapeType below)
for animation, and two frame connectors:
|
| Fixed
BodyBox |
Rigid body with box shape (mass and animation properties are computed
from box data and from density):
|
| BodyCylinder |
Rigid body with cylinder shape (mass and animation properties
are computed from cylinder data and from density):
|
| PointMass |
Rigid body where inertia tensor and rotation is neglected:
|
| Mounting1D |
Propagate 1-dim. support torque to 3-dim. system
|
| Rotor1D |
1D inertia attachable on 3-dim. bodies (without neglecting dynamic effects)
|
| BevelGear1D |
1D gearbox with arbitrary shaft directions (3D bearing frame)
|
Components Fixed, FixedTranslation, FixedRotation
and BodyShape are visualized according to parameter
shapeType, that may have the following values (e.g., shapeType = "box"):
All the details of the visualization shape parameters are
given in
Visualizers.FixedShape
Colors in all animation parts are defined via parameter color.
This is an Integer vector with 3 elements, {r, g, b}, and specifies the
color of the shape. {r,g,b} are the "red", "green" and "blue" color parts,
given in the ranges 0 .. 255, respectively. The predefined type
MultiBody.Types.Color contains a menu
definition of the colors used in the MultiBody library
(this will be replaced by a color editor).
