| Name | Type | Default Value | Description |
|---|
| animation | Boolean | true | = true, if animation shall be enabled (show shape between frame_a and frame_b and optionally a sphere at the center of mass) |
| animateSphere | Boolean | true | = true, if mass shall be animated as sphere provided animation=true |
| r | Position[3] | | Vector from frame_a to frame_b resolved in frame_a |
| r_CM | Position[3] | | Vector from frame_a to center of mass, resolved in frame_a |
| m | Mass | | Mass of rigid body |
| I_11 | Inertia | 0.001 | (1,1) element of inertia tensor |
| I_22 | Inertia | 0.001 | (2,2) element of inertia tensor |
| I_33 | Inertia | 0.001 | (3,3) element of inertia tensor |
| I_21 | Inertia | 0 | (2,1) element of inertia tensor |
| I_31 | Inertia | 0 | (3,1) element of inertia tensor |
| I_32 | Inertia | 0 | (3,2) element of inertia tensor |
| angles_fixed | Boolean | false | = true, if angles_start are used as initial values, else as guess values |
| angles_start | Angle[3] | {0,0,0} | Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b |
| sequence_start | RotationSequence | {1,2,3} | Sequence of rotations to rotate frame_a into frame_b at initial time |
| w_0_fixed | Boolean | false | = true, if w_0_start are used as initial values, else as guess values |
| w_0_start | AngularVelocity[3] | {0,0,0} | Initial or guess values of angular velocity of frame_a resolved in world frame |
| z_0_fixed | Boolean | false | = true, if z_0_start are used as initial values, else as guess values |
| z_0_start | AngularAcceleration[3] | {0,0,0} | Initial values of angular acceleration z_0 = der(w_0) |
| shapeType | ShapeType | "cylinder" | Type of shape |
| r_shape | Position[3] | {0,0,0} | Vector from frame_a to shape origin, resolved in frame_a |
| lengthDirection | Axis | r - r_shape | Vector in length direction of shape, resolved in frame_a |
| widthDirection | Axis | {0,1,0} | Vector in width direction of shape, resolved in frame_a |
| length | Length | Modelica.Math.Vectors.length(r - r_shape) | Length of shape |
| width | Distance | length/world.defaultWidthFraction | Width of shape |
| height | Distance | width | Height of shape. |
| extra | ShapeExtra | 0.0 | Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape). |
| sphereDiameter | Diameter | 2*width | Diameter of sphere |
| enforceStates | Boolean | false | = true, if absolute variables of body object shall be used as states (StateSelect.always) |
| useQuaternions | Boolean | true | = true, if quaternions shall be used as potential states otherwise use 3 angles as potential states |
| sequence_angleStates | RotationSequence | {1,2,3} | Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states |
CONNECTORS
