new 2d lib and test

2026-03-09 20:46:06 +01:00
parent 1312baa41d
commit befe3209bf
11 changed files with 223 additions and 773 deletions
--- a/vis2d.mo
+++ b/vis2d.mo
@@ -89,8 +89,9 @@ protected
                       0, 0, 1], zeros(3)));
 equation
  r = {x, y, 0};
-  Rz = [cos(phi), -sin(phi), 0;
-        sin(phi),  cos(phi), 0;
+  // Negate phi here since shapes use inverse frame-mapping
+  Rz = [cos(-phi), -sin(-phi), 0;
+        sin(-phi),  cos(-phi), 0;
        0,         0,        1];
      
  annotation(