This information is part of the Modelica Standard Library maintained by the Modelica Association.


Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)

frame_aFrame_aCoordinate system fixed to the component with one cut-force and cut-torque
frame_bFrame_bCoordinate system fixed to the component with one cut-force and cut-torque
NameTypeDefault ValueDescription
animationBooleantrue= true, if animation shall be enabled (show box between frame_a and frame_b)
rPosition[3]Vector from frame_a to frame_b resolved in frame_a
r_shapePosition[3]{0,0,0}Vector from frame_a to box origin, resolved in frame_a
lengthDirectionAxisr - r_shapeVector in length direction of box, resolved in frame_a
widthDirectionAxis{0,1,0}Vector in width direction of box, resolved in frame_a
lengthLengthModelica.Math.Vectors.length(r - r_shape)Length of box
widthDistancelength/world.defaultWidthFractionWidth of box
heightDistancewidthHeight of box
innerWidthDistance0Width of inner box surface (0 <= innerWidth <= width)
innerHeightDistanceinnerWidthHeight of inner box surface (0 <= innerHeight <= height)
densityDensity7700Density of cylinder (e.g., steel: 7700 .. 7900, wood : 400 .. 800)
angles_fixedBooleanfalse= true, if angles_start are used as initial values, else as guess values
angles_startAngle[3]{0,0,0}Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b
sequence_startRotationSequence{1,2,3}Sequence of rotations to rotate frame_a into frame_b at initial time
w_0_fixedBooleanfalse= true, if w_0_start are used as initial values, else as guess values
w_0_startAngularVelocity[3]{0,0,0}Initial or guess values of angular velocity of frame_a resolved in world frame
z_0_fixedBooleanfalse= true, if z_0_start are used as initial values, else as guess values
z_0_startAngularAcceleration[3]{0,0,0}Initial values of angular acceleration z_0 = der(w_0)
enforceStatesBooleanfalse = true, if absolute variables of body object shall be used as states (StateSelect.always)
useQuaternionsBooleantrue = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states
sequence_angleStatesRotationSequence{1,2,3} Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states
moMassdensity*length*width*heightMass of box without hole
miMassdensity*length*innerWidth*innerHeightMass of hole of box
mMassmo - miMass of box
ROrientationFrames.from_nxy(r, widthDirection)Orientation object from frame_a to coordinates system spanned by r and widthDirection
r_CMPosition[3]Modelica.Math.Vectors.normalize(r)*length/2Position vector from origin of frame_a to center of mass, resolved in frame_a
IInertia[3,3]Frames.resolveDyade1(R, diagonal({mo*(width*width + height*height) - mi*(innerWidth*innerWidth + innerHeight*innerHeight),mo*(length*length + height*height) - mi*(length*length + innerHeight*innerHeight),mo*(length*length + width*width) - mi*(length*length + innerWidth*innerWidth)}/12))Inertia tensor of body box with respect to center of mass, parallel to frame_a
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