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Joppe Blondel
2026-03-09 18:27:26 +01:00
parent fbc61e9fb2
commit 1312baa41d
14 changed files with 905 additions and 304 deletions
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model vis3d
import Modelica.Mechanics.MultiBody.Visualizers;
import Modelica.Mechanics.MultiBody.Frames;
parameter Real L = 1;
parameter Real w = 0.02;
parameter Real orbRadius = 0.04;
parameter Real axisLength = 0.25;
parameter Real axisWidth = 0.01;
Modelica.Blocks.Interfaces.RealInput psi annotation(
Placement(transformation(origin = {-98, -70}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 20}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput theta annotation(
Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 50}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput phi annotation(
Placement(transformation(origin = {-98, -14}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 80}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput z annotation(
Placement(transformation(origin = {-98, 14}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -80}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput y annotation(
Placement(transformation(origin = {-98, 42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -50}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Interfaces.RealInput x annotation(
Placement(transformation(origin = {-98, 70}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -20}, extent = {{-10, -10}, {10, 10}})));
protected
Real R[3,3];
Real r[3];
Visualizers.Advanced.Shape link(
shapeType = "cylinder",
length = L,
width = w,
height = w,
r_shape = {-L / 2, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = r,
R = Frames.from_T(R, zeros(3)));
Visualizers.Advanced.Shape orb(
shapeType = "sphere",
length = 2 * orbRadius,
width = 2 * orbRadius,
height = 2 * orbRadius,
r_shape = {L / 2 - orbRadius, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = r,
R = Frames.from_T(R, zeros(3)));
Visualizers.Advanced.Shape xAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {255, 0, 0},
specularCoefficient = 0.1,
r_shape = {axisLength / 2, 0, 0},
lengthDirection = {1, 0, 0},
widthDirection = {0, 1, 0},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
Visualizers.Advanced.Shape yAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {0, 200, 0},
specularCoefficient = 0.1,
r_shape = {0, axisLength / 2, 0},
lengthDirection = {0, 1, 0},
widthDirection = {0, 0, 1},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
Visualizers.Advanced.Shape zAxis(
shapeType = "cylinder",
length = axisLength,
width = axisWidth,
height = axisWidth,
color = {0, 90, 255},
specularCoefficient = 0.1,
r_shape = {0, 0, axisLength / 2},
lengthDirection = {0, 0, 1},
widthDirection = {1, 0, 0},
r = zeros(3),
R = Frames.from_T([1, 0, 0;
0, 1, 0;
0, 0, 1], zeros(3)));
equation
r = {x, y, z};
R = [cos(psi) * cos(theta), cos(psi) * sin(theta) * sin(phi) - sin(psi) * cos(phi), cos(psi) * sin(theta) * cos(phi) + sin(psi) * sin(phi);
sin(psi) * cos(theta), sin(psi) * sin(theta) * sin(phi) + cos(psi) * cos(phi), sin(psi) * sin(theta) * cos(phi) - cos(psi) * sin(phi);
-sin(theta), cos(theta) * sin(phi), cos(theta) * cos(phi)];
annotation(
uses(Modelica(version = "4.1.0")),
Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}));
end vis3d;