Pendulum working

vis2d.mo

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+model vis2d
+  import Modelica.Mechanics.MultiBody.Visualizers;
+  import Modelica.Mechanics.MultiBody.Frames;
+
+  parameter Real L = 1;
+  parameter Real w = 0.02;
+  parameter Real orbRadius = 0.04;
+
+  input Real r[3];
+  input Real phi;
+
+  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(
+      [cos(phi), -sin(phi), 0;
+       sin(phi),  cos(phi), 0;
+       0,         0,        1],
+      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(
+      [cos(phi), -sin(phi), 0;
+       sin(phi),  cos(phi), 0;
+       0,         0,        1],
+      zeros(3)));
+end vis2d;