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

World

World coordinate system + gravity field + default animation definition

Information
CONNECTORS
CLOSE ALL
NameTypeDescription
frame_bFrame_bCoordinate system fixed in the origin of the world frame
PARAMETERS
NameTypeDefault ValueDescription
enableAnimationBooleantrue= true, if animation of all components is enabled
animateWorldBooleantrue= true, if world coordinate system shall be visualized
animateGravityBooleantrue= true, if gravity field shall be visualized (acceleration vector or field center)
label1AxisLabel"x"Label of horizontal axis in icon
label2AxisLabel"y"Label of vertical axis in icon
gravityTypeGravityTypesGravityTypes.UniformGravityType of gravity field
gAcceleration9.81Constant gravity acceleration
nAxis{0,-1,0}Direction of gravity resolved in world frame (gravity = g*n/length(n))
mueReal398600000000000.0Gravity field constant (default = field constant of earth)
driveTrainMechanics3DBooleantrue= true, if 3-dim. mechanical effects of Parts.Mounting1D/Rotor1D/BevelGear1D shall be taken into account
axisLengthDistancenominalLength/2Length of world axes arrows
axisDiameterDistanceaxisLength/defaultFrameDiameterFractionDiameter of world axes arrows
axisShowLabelsBooleantrue= true, if labels shall be shown
gravityArrowTailPosition[3]{0,0,0}Position vector from origin of world frame to arrow tail, resolved in world frame
gravityArrowLengthLengthaxisLength/2Length of gravity arrow
gravityArrowDiameterDiametergravityArrowLength/defaultWidthFractionDiameter of gravity arrow
gravitySphereDiameterDiameter12742000Diameter of sphere representing gravity center (default = mean diameter of earth)
nominalLengthLength1"Nominal" length of multi-body system
defaultAxisLengthLengthnominalLength/5Default for length of a frame axis (but not world frame)
defaultJointLengthLengthnominalLength/10Default for the fixed length of a shape representing a joint
defaultJointWidthLengthnominalLength/20Default for the fixed width of a shape representing a joint
defaultForceLengthLengthnominalLength/10Default for the fixed length of a shape representing a force (e.g. damper)
defaultForceWidthLengthnominalLength/20Default for the fixed width of a shape represening a force (e.g. spring, bushing)
defaultBodyDiameterLengthnominalLength/9Default for diameter of sphere representing the center of mass of a body
defaultWidthFractionReal20Default for shape width as a fraction of shape length (e.g., for Parts.FixedTranslation)
defaultArrowDiameterLengthnominalLength/40Default for arrow diameter (e.g., of forces, torques, sensors)
defaultFrameDiameterFractionReal40Default for arrow diameter of a coordinate system as a fraction of axis length
defaultSpecularCoefficientReal0.7Default reflection of ambient light (= 0: light is completely absorbed)
defaultN_to_mReal1000Default scaling of force arrows (length = force/defaultN_to_m)
defaultNm_to_mReal1000Default scaling of torque arrows (length = torque/defaultNm_to_m)
ndimIntegerif enableAnimation and animateWorld then 1 else 0
ndim2Integerif enableAnimation and animateWorld and axisShowLabels then 1 else 0
headLengthLengthmin(axisLength, axisDiameter*Types.Defaults.FrameHeadLengthFraction)
headWidthLengthaxisDiameter*Types.Defaults.FrameHeadWidthFraction
lineLengthLengthmax(0, axisLength - headLength)
lineWidthLengthaxisDiameter
scaledLabelLengthModelica.Mechanics.MultiBody.Types.Defaults.FrameLabelHeightFraction*axisDiameter
labelStartLength1.05*axisLength
gravityHeadLengthLengthmin(gravityArrowLength, gravityArrowDiameter*Types.Defaults.ArrowHeadLengthFraction)
gravityHeadWidthLengthgravityArrowDiameter*Types.Defaults.ArrowHeadWidthFraction
gravityLineLengthLengthmax(0, gravityArrowLength - gravityHeadLength)
ndim_pointGravityIntegerif enableAnimation and animateGravity and gravityType == 2 then 1 else 0
USED IN EXAMPLES
Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.Engine1bBase
Model of one cylinder engine with gas force
Modelica.Mechanics.MultiBody.Examples.Loops.PlanarLoops_analytic
Mechanism with three planar kinematic loops and one degree-of-freedom with analytic loop handling (with JointRRR joints)
Modelica.Mechanics.MultiBody.Examples.Loops.Fourbar_analytic
One kinematic loop with four bars (with JointSSP joint; analytic solution of non-linear algebraic loop)
Modelica.Mechanics.MultiBody.Examples.Loops.Fourbar2
One kinematic loop with four bars (with UniversalSpherical joint; 1 non-linear equation)
Modelica.Mechanics.MultiBody.Examples.Loops.Fourbar1
One kinematic loop with four bars (with only revolute joints; 5 non-linear equations)
Modelica.Mechanics.MultiBody.Examples.Loops.EngineV6_analytic
V6 engine with 6 cylinders, 6 planar loops, 1 degree-of-freedom and analytic handling of kinematic loops
Modelica.Mechanics.MultiBody.Examples.Loops.EngineV6
V6 engine with 6 cylinders, 6 planar loops and 1 degree-of-freedom
Modelica.Mechanics.MultiBody.Examples.Loops.Engine1b_analytic
Model of one cylinder engine with gas force and analytic loop handling
Modelica.Mechanics.MultiBody.Examples.Loops.Engine1b
Model of one cylinder engine with gas force and preparation for assembly joint JointRRP
Modelica.Mechanics.MultiBody.Examples.Loops.Engine1a
Model of one cylinder engine
Modelica.Mechanics.MultiBody.Examples.Elementary.ThreeSprings
3-dim. springs in series and parallel connection
Modelica.Mechanics.MultiBody.Examples.Elementary.SpringWithMass
Point mass hanging on a spring
Modelica.Mechanics.MultiBody.Examples.Elementary.SpringMassSystem
Mass attached with a spring to the world frame
Modelica.Mechanics.MultiBody.Examples.Elementary.SpringDamperSystem
Simple spring/damper/mass system
Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetPulling
Rolling wheel set that is pulled by a force
Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheelSetDriving
Rolling wheel set that is driven by torques driving the wheels
Modelica.Mechanics.MultiBody.Examples.Elementary.RollingWheel
Single wheel rolling on ground starting from an initial speed
Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravityWithPointMasses2
Rigidly connected point masses in a point gravity field
Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravityWithPointMasses
Two point masses in a point gravity field (rotation of bodies is neglected)
Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravity
Two point masses in a point gravity field
Modelica.Mechanics.MultiBody.Examples.Elementary.PendulumWithSpringDamper
Simple spring/damper/mass system
Modelica.Mechanics.MultiBody.Examples.Elementary.Pendulum
Simple pendulum with one revolute joint and one body
Modelica.Mechanics.MultiBody.Examples.Elementary.LineForceWithTwoMasses
Demonstrate line force with two point masses using a JointUPS and alternatively a LineForceWithTwoMasses component
Modelica.Mechanics.MultiBody.Examples.Elementary.InitSpringConstant
Determine spring constant such that system is in steady state at given position
Modelica.Mechanics.MultiBody.Examples.Elementary.FreeBody
Free flying body attached by two springs to environment
Modelica.Mechanics.MultiBody.Examples.Elementary.ForceAndTorque
Demonstrate usage of ForceAndTorque element
Modelica.Mechanics.MultiBody.Examples.Elementary.DoublePendulum
Simple double pendulum with two revolute joints and two bodies
Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.GyroscopicEffects
Demonstrates that a cylindrical body can be replaced by Rotor1D model
Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.ActuatedDrive
Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.MovingActuatedDrive
Modelica.Mechanics.MultiBody.Examples.Rotational3DEffects.GearConstraint
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow
Visualizing an arrow with variable size; all data have to be set as modifiers (see info layer)
Modelica.Mechanics.MultiBody.Visualizers.Advanced.DoubleArrow
Visualizing a double arrow with variable size; all data have to be set as modifiers (see info layer)
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.MechanicalStructure
Model of the mechanical part of the r3 robot (without animation)
Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravityWithPointMasses2.PointMass
Point mass used at all places of this example
Modelica.Mechanics.MultiBody.Examples.Elementary.PointGravityWithPointMasses2.SystemWithStandardBodies.PointMass
Body used all places of the comparision model with zero inertia tensor
Modelica.Mechanics.MultiBody.Visualizers.FixedShape
Animation shape of a part with fixed shape type and dynamically varying shape definition
Modelica.Mechanics.MultiBody.Visualizers.FixedShape2
Animation shape of a part with fixed shape type and dynamically varying shape definition with two frames
Modelica.Mechanics.MultiBody.Visualizers.FixedFrame
Visualizing a coordinate system including axes labels (visualization data may vary dynamically)
Modelica.Mechanics.MultiBody.Visualizers.FixedArrow
Visualizing an arrow with dynamically varying size in frame_a
Modelica.Mechanics.MultiBody.Visualizers.SignalArrow
Visualizing an arrow with dynamically varying size in frame_a based on input signal
Modelica.Mechanics.MultiBody.Visualizers.Internal.FixedLines
Visualizing a set of lines as cylinders (e.g., used to display characters)
Modelica.Mechanics.MultiBody.Sensors.AbsoluteSensor
Measure absolute kinematic quantities of frame connector
Modelica.Mechanics.MultiBody.Sensors.RelativeSensor
Measure relative kinematic quantities between two frame connectors
Modelica.Mechanics.MultiBody.Sensors.Distance
Measure the distance between the origins of two frame connectors
Modelica.Mechanics.MultiBody.Sensors.CutForce
Measure cut force vector
Modelica.Mechanics.MultiBody.Sensors.CutTorque
Measure cut torque vector
Modelica.Mechanics.MultiBody.Sensors.CutForceAndTorque
Measure cut force and cut torque vector
Modelica.Mechanics.MultiBody.Sensors.Power
Measure power flowing from frame_a to frame_b
Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceSensor
Base model to measure the cut force and/or torque between two frames, defined by components
Modelica.Mechanics.MultiBody.Sensors.Internal.PartialCutForceBaseSensor
Base model to measure the cut force and/or torque between two frames, defined by equations (frame_resolve must be connected exactly once)
Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutForce
Measure cut force vector (frame_resolve must be connected)
Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutTorque
Measure cut torque vector (frame_resolve must be connected)
Modelica.Mechanics.MultiBody.Parts.Fixed
Frame fixed in the world frame at a given position
Modelica.Mechanics.MultiBody.Parts.FixedTranslation
Fixed translation of frame_b with respect to frame_a
Modelica.Mechanics.MultiBody.Parts.FixedRotation
Fixed translation followed by a fixed rotation of frame_b with respect to frame_a
Modelica.Mechanics.MultiBody.Parts.Body
Rigid body with mass, inertia tensor and one frame connector (12 potential states)
Modelica.Mechanics.MultiBody.Parts.BodyShape
Rigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states)
Modelica.Mechanics.MultiBody.Parts.BodyBox
Rigid body with box shape. Mass and animation properties are computed from box data and density (12 potential states)
Modelica.Mechanics.MultiBody.Parts.BodyCylinder
Rigid body with cylinder shape. Mass and animation properties are computed from cylinder data and density (12 potential states)
Modelica.Mechanics.MultiBody.Parts.PointMass
Rigid body where body rotation and inertia tensor is neglected (6 potential states)
Modelica.Mechanics.MultiBody.Parts.Mounting1D
Propagate 1-dim. support torque to 3-dim. system (provided world.driveTrainMechanics3D=true)
Modelica.Mechanics.MultiBody.Parts.Rotor1D
1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true)
Modelica.Mechanics.MultiBody.Parts.Rotor1D.RotorWith3DEffects
1D inertia attachable on 3-dim. bodies (3D dynamic effects are taken into account)
Modelica.Mechanics.MultiBody.Parts.BevelGear1D
1D gearbox with arbitrary shaft directions and 3-dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true)
Modelica.Mechanics.MultiBody.Joints.Prismatic
Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)
Modelica.Mechanics.MultiBody.Joints.Revolute
Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
Modelica.Mechanics.MultiBody.Joints.RevolutePlanarLoopConstraint
Revolute joint that is described by 2 positional constraints for usage in a planar loop (the ambiguous cut-force perpendicular to the loop and the ambiguous cut-torques are set arbitrarily to zero)
Modelica.Mechanics.MultiBody.Joints.Cylindrical
Cylindrical joint (2 degrees-of-freedom, 4 potential states)
Modelica.Mechanics.MultiBody.Joints.Universal
Universal joint (2 degrees-of-freedom, 4 potential states)
Modelica.Mechanics.MultiBody.Joints.Planar
Planar joint (3 degrees-of-freedom, 6 potential states)
Modelica.Mechanics.MultiBody.Joints.Spherical
Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
Modelica.Mechanics.MultiBody.Joints.FreeMotion
Free motion joint (6 degrees-of-freedom, 12 potential states)
Modelica.Mechanics.MultiBody.Joints.SphericalSpherical
Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle
Modelica.Mechanics.MultiBody.Joints.UniversalSpherical
Universal - spherical joint aggregation (1 constraint, no potential states)
Modelica.Mechanics.MultiBody.Joints.GearConstraint
Ideal 3-dim. gearbox (arbitrary shaft directions)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointUPS
Universal - prismatic - spherical joint aggregation (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointUSR
Universal - spherical - revolute joint aggregation (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointUSP
Universal - spherical - prismatic joint aggregation (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointSSR
Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointSSP
Spherical - spherical - prismatic joint aggregation with mass (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointRRR
Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointRRP
Planar revolute - revolute - prismatic joint aggregation (no constraints, no potential states)
Modelica.Mechanics.MultiBody.Joints.Internal.RevoluteWithLengthConstraint
Revolute joint where the rotation angle is computed from a length constraint (1 degree-of-freedom, no potential state)
Modelica.Mechanics.MultiBody.Joints.Internal.PrismaticWithLengthConstraint
Prismatic joint where the translational distance is computed from a length constraint (1 degree-of-freedom, no potential state)
Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames
Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected
Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFramesDoubleSize
Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected (default icon size is factor 2 larger as usual)
Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_a
Base model for components providing one frame_a connector + outer world + assert to guarantee that the component is connected
Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_b
Base model for components providing one frame_b connector + outer world + assert to guarantee that the component is connected
Modelica.Mechanics.MultiBody.Interfaces.PartialElementaryJoint
Base model for elementary joints (has two frames + outer world + assert to guarantee that the joint is connected)
Modelica.Mechanics.MultiBody.Interfaces.PartialForce
Base model for force elements (provide frame_b.f and frame_b.t in subclasses)
Modelica.Mechanics.MultiBody.Interfaces.PartialLineForce
Base model for line force elements
Modelica.Mechanics.MultiBody.Interfaces.PartialAbsoluteSensor
Base model to measure an absolute frame variable
Modelica.Mechanics.MultiBody.Interfaces.PartialRelativeSensor
Base model to measure a relative variable between two frames
Modelica.Mechanics.MultiBody.Interfaces.PartialVisualizer
Base model for visualizers (has a frame_a on the left side + outer world + assert to guarantee that the component is connected)
Modelica.Mechanics.MultiBody.Forces.WorldForce
External force acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve
Modelica.Mechanics.MultiBody.Forces.WorldTorque
External torque acting at frame_b, defined by 3 input signals and resolved in frame world, frame_b or frame_resolve
Modelica.Mechanics.MultiBody.Forces.WorldForceAndTorque
External force and torque acting at frame_b, defined by 3+3 input signals and resolved in frame world, frame_b or in frame_resolve
Modelica.Mechanics.MultiBody.Forces.Force
Force acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve
Modelica.Mechanics.MultiBody.Forces.Torque
Torque acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve
Modelica.Mechanics.MultiBody.Forces.ForceAndTorque
Force and torque acting between two frames, defined by 3+3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve
Modelica.Mechanics.MultiBody.Forces.LineForceWithMass
General line force component with an optional point mass on the connection line
Modelica.Mechanics.MultiBody.Forces.LineForceWithTwoMasses
General line force component with two optional point masses on the connection line
Modelica.Mechanics.MultiBody.Forces.Spring
Linear translational spring with optional mass
Modelica.Mechanics.MultiBody.Forces.Damper
Linear (velocity dependent) damper
Modelica.Mechanics.MultiBody.Forces.SpringDamperParallel
Linear spring and linear damper in parallel
Modelica.Mechanics.MultiBody.Forces.SpringDamperSeries
Linear spring and linear damper in series connection
Modelica.Mechanics.MultiBody.Forces.Internal.BasicForce
Force acting between two frames, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.BasicTorque
Torque acting between two frames, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldForce
External force acting at frame_b, defined by 3 input signals
Modelica.Mechanics.MultiBody.Forces.Internal.BasicWorldTorque
External torque acting at frame_b, defined by 3 input signals