new 2d lib and test

BondGraph/_2D/package.mo

@@ -7,13 +7,16 @@ package _2D
         Icon(graphics = {Rectangle(lineColor = {0, 85, 0}, fillColor = {0, 85, 0},fillPattern = FillPattern.Solid, extent = {{-60, 60}, {60, -60}})}));
     end BondPort;
 
-    model J1 "Bond graph 2D 1-junction (common flow, efforts sum to zero)"
+    model J1 "Bond graph 1-junction (common flow, efforts sum to zero)"
         parameter Integer            N(min=1) = 2         "# of power ports";
-        parameter Real s[N] = fill(1.0, N)
+        parameter Real                s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
-        "Bond orientation signs used in the effort balance";
+    
-        BondPort P[N] "Power ports" annotation(
+        BondPort                    P[N]                    "Power ports"
+        annotation(
         Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
-        Real f[2];
+        Modelica.Blocks.Interfaces.RealVectorOutput f[2]            "Flow in junction"
+        annotation(
+        Placement(transformation(origin = {-100, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {60, -60}, extent = {{-10, -10}, {10, 10}})));
     equation
         // Efforts sum to zero, with signs from bond directions
         for j in 1:2 loop
@@ -24,18 +27,24 @@ package _2D
         for i in 2:N loop
             P[i].f = P[i-1].f;
         end for;
-        f = P[1].f;
+    
+        f = -1 * P[1].f * s[1];
+        
         annotation(
         Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1", textStyle = {TextStyle.Bold, TextStyle.UnderLine}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
     end J1;
 
-    model J0 "Bond graph 2D 0-junction (common effort, flows sum to zero)"
+  model J0 "Bond graph 1-junction (common effort, flows sum to zero)"
       parameter Integer            N(min=1) = 2            "# of power ports";
-        parameter Real s[N] = fill(1.0, N)
+      parameter Real                s[N] = fill(1.0, N)    "Bond orientation signs used in the effort balance";
-        "Bond orientation signs used in the effort balance";
+  
-        BondPort P[N] "Power ports" annotation(
+      BondPort                    P[N]                    "Power ports"
+      annotation(
       Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
-        Real e[2];
+  
+      Modelica.Blocks.Interfaces.RealVectorOutput e[2]            "Flow in junction"
+      annotation(
+      Placement(transformation(origin = {-100, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {60, -60}, extent = {{-10, -10}, {10, 10}})));
   equation
       // Flows sum to zero, with signs from bond directions
       for j in 1:2 loop
@@ -44,9 +53,11 @@ package _2D
   
       // Efforts are all equal
       for i in 2:N loop
-            P[i].e = P[1].e;
+          P[i].e = P[i-1].e;
       end for;
+  
       e = P[1].e;
+      
         annotation(
         Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0", textStyle = {TextStyle.Bold, TextStyle.UnderLine}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
     Diagram(graphics));
@@ -206,62 +217,6 @@ package _2D
         Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mGY", textStyle = {TextStyle.Bold, TextStyle.UnderLine}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
     end mGY;
 
-    package TransRotUtils
-
-        model mTFrot2lin
-            _1D.BondPort pR annotation(
-            Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-            BondPort pT annotation(
-            Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-            parameter Real r_body[2] = {1,0};
-        protected
-            Real B[2];
-        equation
-            B = {-r_body[2], r_body[1]};
-            pT.f = B * pR.f;
-            pR.e = B[1]*pT.e[1] + B[2]*pT.e[2];
-            annotation(
-            Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
-        end mTFrot2lin;
-
-        model rTF
-            BondPort p1 "Port 1" annotation(
-            Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-            BondPort p2 "Port 2" annotation(
-            Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-            Modelica.Blocks.Interfaces.RealInput phi "angle" annotation(
-            Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-        protected
-            Real R[2,2];
-        equation
-            R = [cos(phi), -sin(phi);
-            sin(phi), cos(phi)];
-            p1.e = R * p2.e;
-            transpose(R) * p1.f = p2.f;
-            annotation(
-            Diagram(graphics),
-            Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine}) }));
-        end rTF;
-
-    end TransRotUtils;
-    
-    model fsensor2d
-		BondPort p annotation(
-		Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-52, 0}, extent = {{-10, -10}, {10, 10}})));
-		Modelica.Blocks.Interfaces.RealOutput f0 "Flow output" annotation(
-		Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, 20}, extent = {{-8, -8}, {8, 8}})));
-		Modelica.Blocks.Interfaces.RealOutput f1 "Flow output" annotation(
-		Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, -20}, extent = {{-8, -8}, {8, 8}})));
-	equation
-		// Ideal flow sensor in bond-graph form: zero effort loading.
-		p.e = {0,0};
-		f0 = p.f[1];
-		f1 = p.f[2];
-		annotation(
-		Icon(graphics = {Text(origin = {-10, 0}, extent = {{-50, 60}, {50, -60}}, textString = "f", textStyle = {TextStyle.Italic}), Ellipse(origin = {-2, 0}, lineThickness = 5, extent = {{-50, 50}, {50, -50}})}));
-	end fsensor2d;
-
-
     annotation(
     Icon(graphics = {Text(origin = {50, 0}, extent = {{-50, 100}, {50, -100}}, textString = "R", textStyle = {TextStyle.Bold}), Line(origin = {-45.22, 20.19}, points = {{-58.7774, -20.1934}, {21.2226, -20.1934}, {-38.7774, 19.8066}}, thickness = 5), Line(origin = {-9.81, -8.19}, points = {{-10.1934, 48.1934}, {-10.1934, -31.8066}}, thickness = 5), Line(origin = {-78, 16}, points = {{-26, 0}, {30, 0}}, thickness = 5)}),
     uses(Modelica(version = "4.1.0")),

BondGraph/_2D/package.order

@@ -14,5 +14,3 @@ mSe
 mSf
 mTF
 mGY
-TransRotUtils
-fsensor2d

BondGraph/package.mo

@@ -16,7 +16,6 @@ package BondGraph
       BondPort                    P[N]                    "Power ports"
       annotation(
       Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
-
       Modelica.Blocks.Interfaces.RealOutput f            "Flow in junction"
       annotation(
       Placement(transformation(origin = {-100, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {60, -60}, extent = {{-10, -10}, {10, 10}})));
@@ -29,7 +28,7 @@ package BondGraph
           P[i].f = P[i-1].f;
       end for;
   
-        f = P[1].f * s[1];
+      f = -1 * P[1].f * s[1];
   
       annotation(
       Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
@@ -53,7 +52,7 @@ package BondGraph
 
         // Efforts are all equal
         for i in 2:N loop
-            P[i].f = P[i-1].f;
+            P[i].e = P[i-1].e;
         end for;
 
         e = P[1].e * s[1];

BondGraph/package.order

@@ -1 +1,17 @@
-_1D
+BondPort
+J1
+J0
+OnePortPassive
+OnePortEnergetic
+C
+I
+R
+Se
+Sf
+TF
+GY
+mSe
+mSf
+mTF
+mGY
+_2D

_3D/package.mo

@@ -1,275 +0,0 @@
-within BondGraph;
-
-package _3D
-  connector BondPort "Bond graph 3D multibond power port"
-    Real e[3] "Effort vector";
-    flow Real f[3] "Flow vector";
-    annotation(
-      Icon(graphics = {Rectangle(lineColor = {170, 0, 0}, fillColor = {170, 0, 0}, fillPattern = FillPattern.Solid, extent = {{-60, 60}, {60, -60}})}));
-  end BondPort;
-
-  model J1 "Bond graph 3D 1-junction (common flow, efforts sum to zero)"
-    parameter Integer N(min = 1) = 2 "# of power ports";
-    parameter Real s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
-    BondPort P[N] "Power ports" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
-    Real f[3];
-  equation
-// Efforts sum to zero, with signs from bond directions
-    for j in 1:3 loop
-      sum(s[i]*P[i].e[j] for i in 1:N) = 0;
-    end for;
-// Flows are all equal
-    for i in 2:N loop
-      P[i].f = P[i - 1].f;
-    end for;
-    f = P[1].f;
-    annotation(
-      Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}));
-  end J1;
-
-  model J0 "Bond graph 3D 0-junction (common effort, flows sum to zero)"
-    parameter Integer N(min = 1) = 2 "# of power ports";
-    parameter Real s[N] = fill(1.0, N) "Bond orientation signs used in the effort balance";
-    BondPort P[N] "Power ports" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
-    Real e[3];
-  equation
-// Flows sum to zero, with signs from bond directions
-    for j in 1:3 loop
-      sum(s[i]*P[i].f[j] for i in 1:N) = 0;
-    end for;
-// Efforts are all equal
-    for i in 2:N loop
-      P[i].e = P[1].e;
-    end for;
-    e = P[1].e;
-    annotation(
-      Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end J0;
-
-  partial model OnePortPassive "One-port passive 3D multibond element"
-    BondPort p "Generic power port" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(extent = {{-10, -10}, {10, 10}})));
-  end OnePortPassive;
-
-  partial model OnePortEnergetic "One-port 3D multibond storage element"
-    extends OnePortPassive annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}})));
-    Real state[3] "Conserved quantity";
-  end OnePortEnergetic;
-
-  model C "Bond graph 3D C element"
-    extends OnePortEnergetic(state(start = q0, each fixed = true));
-    parameter Real c[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Capacitance matrix inverse denominator form";
-    parameter Real q0[3] = {0, 0, 0} "Initial stored quantity (charge)";
-  equation
-    der(state) = p.f;
-    c*p.e = state;
-    annotation(
-      Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "C", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end C;
-
-  model I "Bond graph 3D I element"
-    extends OnePortEnergetic(state(start = p0, each fixed = true));
-    parameter Real I[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Inertance / inductance / mass matrix";
-    parameter Real p0[3] = {0, 0, 0} "Initial stored quantity (momentum / flux)";
-  equation
-    der(state) = p.e;
-    I*p.f = state;
-    annotation(
-      Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "I", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end I;
-
-  model R "Bond graph 3D resistor"
-    extends OnePortPassive;
-    parameter Real R[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Resistance matrix";
-  equation
-    p.e = R*p.f;
-    annotation(
-      Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "R", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end R;
-
-  model Se "Effort source"
-    BondPort p annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    parameter Real e0[3] "Imposed effort";
-  equation
-    p.e = e0;
-    annotation(
-      Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Se", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end Se;
-
-  model Sf "Flow source"
-    BondPort p annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    parameter Real f0[3] "Imposed flow";
-  equation
-    p.f = f0;
-    annotation(
-      Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "Sf", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end Sf;
-
-  model TF "Bond graph 3D transformer"
-    BondPort p1 "Port 1" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-    BondPort p2 "Port 2" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    parameter Real n[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Transformer ratio matrix";
-  equation
-    p1.e = n*p2.e;
-    transpose(n)*p1.f = p2.f;
-    annotation(
-      Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "TF", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end TF;
-
-  model GY "Bond graph 3D gyrator"
-    BondPort p1 "Port 1" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-    BondPort p2 "Port 2" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    parameter Real r[3, 3] = [1, 0, 0; 0, 1, 0; 0, 0, 1] "Gyrator modulus matrix";
-  equation
-    p1.e = r*p2.f;
-    p2.e = transpose(r)*p1.f;
-    annotation(
-      Icon(graphics = {Text(extent = {{-80, 100}, {80, -100}}, textString = "GY", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end GY;
-
-  model mSe "Bond graph modulated effort source"
-    BondPort p annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Interfaces.RealInput e0 "Imposed effort" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-    Modelica.Blocks.Interfaces.RealInput e1 "Imposed effort" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-    Modelica.Blocks.Interfaces.RealInput e2 "Imposed effort" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-  equation
-    p.e = {e0, e1, e2};
-    annotation(
-      Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSe", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end mSe;
-
-  model mSf "Bond graph modulated flow source"
-    BondPort p annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Interfaces.RealInput f0 "Imposed flow" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-    Modelica.Blocks.Interfaces.RealInput f1 "Imposed flow" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-    Modelica.Blocks.Interfaces.RealInput f2 "Imposed flow" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-  equation
-    p.f = {f0, f1, f2};
-    annotation(
-      Icon(graphics = {Text(origin = {-20, 0}, extent = {{-80, 100}, {80, -100}}, textString = "mSf", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}),
-      Diagram(graphics));
-  end mSf;
-
-  model mTF "Bond graph modulated transformer"
-    BondPort p1 "Port 1" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-    BondPort p2 "Port 2" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Interfaces.RealInput m[3, 3] "Modulation" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-  equation
-    p1.e = m*p2.e;
-    transpose(m)*p1.f = p2.f;
-    annotation(
-      Diagram(graphics),
-      Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}));
-  end mTF;
-
-  model mGY "Bond graph modulated gyrator"
-    BondPort p1 "Port 1" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-    BondPort p2 "Port 2" annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Interfaces.RealInput m[3, 3] "Modulation" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-  equation
-    p1.e = m*p2.f;
-    p2.e = transpose(m)*p1.f;
-    annotation(
-      Diagram(graphics),
-      Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "mGY", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name", textStyle = {TextStyle.Italic})}));
-  end mGY;
-
-  package TransRotUtils
-    model mTFrot3lin
-      BondPort pR annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-      BondPort pT annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-      parameter Real r_body[3] = {1, 0, 0} "Vector from rotational reference to translational point (body frame)";
-    protected
-      Real S[3, 3];
-    equation
-// Skew matrix such that S*x = r_body x x
-      S = [0, -r_body[3], r_body[2]; r_body[3], 0, -r_body[1]; -r_body[2], r_body[1], 0];
-// v = w x r_body = -S*w
-      pT.f = transpose(S)*pR.f;
-// tau = r_body x F = S*F
-      pR.e = S*pT.e;
-      annotation(
-        Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine, TextStyle.Italic})}));
-    end mTFrot3lin;
-
-    model rTF3D
-      BondPort p1 "Port 1" annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-      BondPort p2 "Port 2" annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-      Modelica.Blocks.Interfaces.RealInput phi "roll angle" annotation(
-        Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-      Modelica.Blocks.Interfaces.RealInput theta "pitch angle" annotation(
-        Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-      Modelica.Blocks.Interfaces.RealInput psi "yaw angle" annotation(
-        Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {30, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-    protected
-      Real R[3, 3];
-    equation
-// ZYX rotation matrix from body to inertial frame.
-      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)];
-      p1.e = R*p2.e;
-      transpose(R)*p1.f = p2.f;
-      annotation(
-        Diagram(graphics),
-        Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.Italic, TextStyle.UnderLine})}));
-    end rTF3D;
-  end TransRotUtils;
-
-  model fsensor3d
-    BondPort p annotation(
-      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-52, 0}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Interfaces.RealOutput f0 "Flow output" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, 26}, extent = {{-8, -8}, {8, 8}})));
-    Modelica.Blocks.Interfaces.RealOutput f1 "Flow output" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, 0}, extent = {{-8, -8}, {8, 8}})));
-    Modelica.Blocks.Interfaces.RealOutput f2 "Flow output" annotation(
-      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {54, -26}, extent = {{-8, -8}, {8, 8}})));
-  equation
-// Ideal flow sensor in bond-graph form: zero effort loading.
-    p.e = {0, 0, 0};
-    f0 = p.f[1];
-    f1 = p.f[2];
-    f2 = p.f[3];
-    annotation(
-      Icon(graphics = {Text(origin = {-10, 0}, extent = {{-50, 60}, {50, -60}}, textString = "f", textStyle = {TextStyle.Italic}), Ellipse(origin = {-2, 0}, lineThickness = 5, extent = {{-50, 50}, {50, -50}})}));
-  end fsensor3d;
-  annotation(
-    Icon(graphics = {Text(origin = {50, 0}, extent = {{-50, 100}, {50, -100}}, textString = "R", textStyle = {TextStyle.Bold, TextStyle.Italic}), Line(origin = {-45.22, 20.19}, points = {{-58.7774, -20.1934}, {21.2226, -20.1934}, {-38.7774, 19.8066}}, thickness = 5), Line(origin = {-9.81, -8.19}, points = {{-10.1934, 48.1934}, {-10.1934, -31.8066}}, thickness = 5), Line(origin = {-78, 16}, points = {{-26, 0}, {30, 0}}, thickness = 5), Line(origin = {-78, -16}, points = {{-26, 0}, {30, 0}}, thickness = 5)}),
-    uses(Modelica(version = "4.1.0")),
-    Diagram(graphics));
-end _3D;

_3D/package.order

@@ -1,18 +0,0 @@
-BondPort
-J1
-J0
-OnePortPassive
-OnePortEnergetic
-C
-I
-R
-Se
-Sf
-TF
-GY
-mSe
-mSf
-mTF
-mGY
-TransRotUtils
-fsensor3d

suggest_junction_signs.py

@@ -0,0 +1,185 @@
+#!/usr/bin/env python3
+"""
+Suggest BondGraph junction s-arrays from connect argument order.
+
+Rule used:
+- connect(a, b) means a is source and b is sink.
+- Junction port in first argument => +1 vote
+- Junction port in second argument => -1 vote
+
+This is a heuristic helper. It does not modify files.
+"""
+
+from __future__ import annotations
+
+import argparse
+import re
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Dict, List, Optional, Tuple
+
+
+CONNECT_RE = re.compile(r"connect\s*\(\s*([^,]+?)\s*,\s*([^)]+?)\s*\)\s*(?:annotation\s*\(|;)", re.S)
+JUNCTION_DECL_RE = re.compile(
+    r"\b(BondGraph(?:\._2D)?\.J[01])\s+([A-Za-z_]\w*)\s*(\((.*?)\))?\s*annotation\s*\(",
+    re.S,
+)
+PORT_RE = re.compile(r"^([A-Za-z_]\w*)\.P\[(\d+)\]$")
+N_RE = re.compile(r"\bN\s*=\s*(\d+)")
+S_RE = re.compile(r"\bs\s*=\s*\{([^}]*)\}")
+
+
+@dataclass
+class Junction:
+    cls: str
+    name: str
+    n: Optional[int]
+    current_s: Optional[List[str]]
+    votes: Dict[int, List[int]] = field(default_factory=dict)
+
+    def add_vote(self, port_idx: int, vote: int) -> None:
+        self.votes.setdefault(port_idx, []).append(vote)
+
+
+def parse_current_s(params: str) -> Optional[List[str]]:
+    m = S_RE.search(params)
+    if not m:
+        return None
+    return [x.strip() for x in m.group(1).split(",") if x.strip()]
+
+
+def parse_junctions(text: str) -> Dict[str, Junction]:
+    result: Dict[str, Junction] = {}
+    for m in JUNCTION_DECL_RE.finditer(text):
+        cls, name, _, params = m.groups()
+        params = params or ""
+        n_m = N_RE.search(params)
+        n = int(n_m.group(1)) if n_m else None
+        result[name] = Junction(cls=cls, name=name, n=n, current_s=parse_current_s(params))
+    return result
+
+
+def normalize_endpoint(ep: str) -> str:
+    return re.sub(r"\s+", "", ep)
+
+
+def extract_junction_port(endpoint: str) -> Optional[Tuple[str, int]]:
+    m = PORT_RE.match(endpoint)
+    if not m:
+        return None
+    return m.group(1), int(m.group(2))
+
+
+def suggest_sign(votes: List[int]) -> str:
+    pos = sum(1 for v in votes if v < 0)
+    neg = sum(1 for v in votes if v > 0)
+    if pos and neg:
+        return "?"
+    if pos:
+        return "-1"
+    if neg:
+        return "+1"
+    return "0"
+
+
+def fmt_current(j: Junction, idx: int) -> str:
+    if not j.current_s:
+        return "n/a"
+    if idx - 1 < len(j.current_s):
+        return j.current_s[idx - 1]
+    return "n/a"
+
+
+def as_int_sign(token: str) -> Optional[int]:
+    t = token.strip()
+    if t in {"+1", "1", "1.0"}:
+        return 1
+    if t in {"-1", "-1.0"}:
+        return -1
+    return None
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument("modelica_file", type=Path)
+    ap.add_argument(
+        "--emit-patch",
+        action="store_true",
+        help="Emit patch-style s-array replacements per junction.",
+    )
+    args = ap.parse_args()
+
+    text = args.modelica_file.read_text(encoding="utf-8")
+    junctions = parse_junctions(text)
+
+    for m in CONNECT_RE.finditer(text):
+        left, right = normalize_endpoint(m.group(1)), normalize_endpoint(m.group(2))
+
+        l = extract_junction_port(left)
+        if l and l[0] in junctions:
+            junctions[l[0]].add_vote(l[1], +1)
+
+        r = extract_junction_port(right)
+        if r and r[0] in junctions:
+            junctions[r[0]].add_vote(r[1], -1)
+
+    print(f"File: {args.modelica_file}")
+    print("Rule: connect(a,b) => a:-1, b:+1")
+    print("")
+
+    patch_lines: List[str] = []
+
+    for name in sorted(junctions):
+        j = junctions[name]
+        max_idx = j.n or (max(j.votes) if j.votes else 0)
+        suggested = []
+        conflicts = []
+
+        for i in range(1, max_idx + 1):
+            votes = j.votes.get(i, [])
+            s = suggest_sign(votes)
+            suggested.append(s)
+            if s == "?":
+                conflicts.append(i)
+
+        current_s = "{" + ", ".join(j.current_s) + "}" if j.current_s else "n/a"
+        sug_s = "{" + ", ".join(suggested) + "}" if suggested else "{}"
+        print(f"{j.name} ({j.cls}, N={j.n if j.n is not None else 'n/a'})")
+        print(f"  current s:   {current_s}")
+        print(f"  suggested s: {sug_s}")
+        for i in range(1, max_idx + 1):
+            votes = j.votes.get(i, [])
+            vote_str = ",".join("+1" if v > 0 else "-1" for v in votes) if votes else "-"
+            print(f"  P[{i}]: current={fmt_current(j, i)} votes={vote_str} -> {suggested[i-1]}")
+        if conflicts:
+            conflict_ports = ", ".join(f"P[{i}]" for i in conflicts)
+            print(f"  conflicts: {conflict_ports} (used as both source and sink)")
+        print("")
+
+        if args.emit_patch and max_idx > 0:
+            suggested_int = []
+            current_int = []
+            ok = True
+            for i in range(1, max_idx + 1):
+                s = suggested[i - 1]
+                if s == "?":
+                    ok = False
+                    break
+                suggested_int.append("1" if s == "+1" else "-1")
+                current_int.append(fmt_current(j, i))
+            if ok:
+                old_txt = "{" + ", ".join(current_int) + "}"
+                new_txt = "{" + ", ".join(suggested_int) + "}"
+                patch_lines.append(f"- {j.name}.s = {old_txt}")
+                patch_lines.append(f"+ {j.name}.s = {new_txt}")
+
+    if args.emit_patch:
+        print("Suggested Patch")
+        for line in patch_lines:
+            print(line)
+
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

test1d.mo

@@ -2,16 +2,23 @@ model test1d
   BondGraph.J1 j1(N = 3, s = {-1, -1, 1})  annotation(
     Placement(transformation(extent = {{-10, -10}, {10, 10}})));
   BondGraph.R r1(R = 1)  annotation(
-    Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
+    Placement(transformation(origin = {0, 42}, extent = {{-10, -10}, {10, 10}})));
-  BondGraph.R r2(R = 1)  annotation(
+  BondGraph.mSe mSe annotation(
-    Placement(transformation(origin = {0, -40}, extent = {{-10, -10}, {10, 10}})));
-  BondGraph.Se se(e0 = 1)  annotation(
     Placement(transformation(origin = {-40, 0}, extent = {{-10, -10}, {10, 10}})));
+  BondGraph.C c(c = 0.1)  annotation(
+    Placement(transformation(origin = {0, -40}, extent = {{-10, -10}, {10, 10}})));
+  Modelica.Blocks.Sources.Step step(startTime = 0.5)  annotation(
+    Placement(transformation(origin = {-70, 0}, extent = {{-10, -10}, {10, 10}})));
 equation
   connect(j1.P[1], r1.p) annotation(
-    Line(points = {{0, 0}, {0, 40}}, color = {0, 0, 127}));
+    Line(points = {{0, 0}, {0, 42}}, color = {0, 0, 127}));
-  connect(j1.P[2], r2.p) annotation(
+  connect(mSe.p, j1.P[3]) annotation(
-    Line(points = {{0, 0}, {0, -40}}, color = {0, 0, 127}));
-  connect(se.p, j1.P[3]) annotation(
     Line(points = {{-32, 0}, {0, 0}}, color = {0, 0, 127}));
+  connect(j1.P[2], c.p) annotation(
+    Line(points = {{0, 0}, {0, -40}}, color = {0, 0, 127}));
+  connect(step.y, mSe.e0) annotation(
+    Line(points = {{-58, 0}, {-40, 0}, {-40, -8}}, color = {0, 0, 127}));
+
+annotation(
+    uses(Modelica(version = "4.1.0")));
 end test1d;

test2d.mo

@@ -1,99 +1,127 @@
-model test2d
+package test2d
-    import _1D = BondGraph._1D;
+  model test2d
-    import _2D = BondGraph._2D;
+    BondGraph.J1 w_com(N = 3, s = {1, 1, 1}) annotation(
-    _1D.J1 w_com(N = 4, s = {1, -1, -1, -1}) annotation(
+      Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}})));
-    Placement(transformation(origin = {0, 120}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph.I moi(I = 0.01) annotation(
-    _2D.TransRotUtils.mTFrot2lin mTFrot2lin(r_body = {0.5, 0}) annotation(
+      Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}})));
-    Placement(transformation(origin = {0, 80}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+    mTFrot2lin mTFrot2lin1(r_body = {0.5, 0}) annotation(
-    _2D.J0 j0(N = 3, s = {1, 1, -1}) annotation(
+      Placement(transformation(origin = {0, 70}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+    BondGraph._2D.J0 j0(N = 3, s = {-1, -1, 1}) annotation(
       Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
-    _2D.J1 v_p_bff(N = 2, s = {1, 1}) annotation(
+    BondGraph._2D.J1 v_com_i(N = 3, s = {-1, 1, -1}) annotation(
+      Placement(transformation(origin = {40, -20}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph._2D.J1 v_P_bff(N = 2, s = {-1, -1}) annotation(
       Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
-    _2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation(
+    BondGraph._2D.J1 v_com_bff(N = 2, s = {1, 1}) annotation(
       Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
-    _2D.TransRotUtils.rTF rTF annotation(
+    BondGraph._2D.Sf hinge(f0 = {0, 0}) annotation(
-    Placement(transformation(origin = {40, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
+      Placement(transformation(origin = {-78, 40}, extent = {{-10, -10}, {10, 10}})));
-    _1D.fsensor wsensor annotation(
+    rTF rTF1 annotation(
-    Placement(transformation(origin = {50, 90}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
     Modelica.Blocks.Continuous.Integrator w2phi(k = 1)  annotation(
-    Placement(transformation(origin = {90, 90}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}})));
-    _2D.J1 v_com_in(N = 4, s = {1, -1, 1, 1}) annotation(
+    BondGraph._2D.I m(I = [1, 0; 0, 1]) annotation(
-    Placement(transformation(origin = {40, -40}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}})));
-    _2D.I mass(I = [1, 0; 0, 1]) annotation(
-    Placement(transformation(origin = {80, -40}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._2D.Sf ground(f0 = {0, 0}) annotation(
-    Placement(transformation(origin = {-80, 40}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._1D.I m_inertial(I = 0.001) annotation(
-    Placement(transformation(origin = {40, 120}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._1D.Sf ground2(f0 = 0) annotation(
-    Placement(transformation(origin = {-80, 120}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._1D.J0 j1(N = 3, s = {1, -1, -1}) annotation(
-    Placement(transformation(origin = {-40, 120}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._1D.J1 w_hinge(N = 2, s = {1, -1}) annotation(
-    Placement(transformation(origin = {-40, 90}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._1D.R hinge_r(R = 0.08) annotation(
-    Placement(transformation(origin = {-80, 90}, extent = {{-10, -10}, {10, 10}})));
     BondGraph._2D.Se g(e0 = {0, -9.81}) annotation(
-    Placement(transformation(origin = {2, -40}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}})));
-    BondGraph._2D.fsensor2d v_inertial annotation(
+    Modelica.Blocks.Continuous.Integrator vx2x(y_start = -0.5) annotation(
-    Placement(transformation(origin = {40, -60}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
+      Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Continuous.Integrator vx_to_x(k = 1, y_start = -0.5)  annotation(
+    Modelica.Blocks.Continuous.Integrator vy2y(y_start = 0)  annotation(
-    Placement(transformation(origin = {70, -70}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Continuous.Integrator vy_to_y(k = 1)  annotation(
+ BondGraph.J0 j1(N = 3, s = {-1, -1, 1}) annotation(
-    Placement(transformation(origin = {70, -100}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {-40, 100}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph.Sf hinge2(f0 = 0) annotation(
+      Placement(transformation(origin = {-78, 100}, extent = {{-10, -10}, {10, 10}})));
+ BondGraph.J1 w_hinge(N = 2, s = {-1, 1}) annotation(
+      Placement(transformation(origin = {-40, 70}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph.R r(R = 0.2) annotation(
+      Placement(transformation(origin = {-70, 70}, extent = {{-10, -10}, {10, 10}})));
     vis2d vis2d1 annotation(
-    Placement(transformation(origin = {150, -6}, extent = {{-10, -10}, {10, 10}})));
+      Placement(transformation(origin = {118, -64}, extent = {{-10, -10}, {10, 10}})));
-equation
+  equation
-    connect(w_com.P[2], mTFrot2lin.pR) annotation(
+    connect(w_com.f, w2phi.u) annotation(
-    Line(points = {{0, 120}, {0, 88}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127}));
-    connect(mTFrot2lin.pT, j0.P[1]) annotation(
+    connect(w2phi.y, rTF1.phi) annotation(
-    Line(points = {{0, 72}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127}));
-    connect(v_com_bff.P[1], j0.P[2]) annotation(
+    connect(w_com.P[1], moi.p) annotation(
+      Line(points = {{0, 100}, {40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+    connect(w_com.P[2], mTFrot2lin1.pR) annotation(
+      Line(points = {{0, 100}, {0, 78}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+    connect(v_com_bff.P[1], j0.P[1]) annotation(
       Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(j0.P[3], v_p_bff.P[1]) annotation(
+    connect(mTFrot2lin1.pT, j0.P[2]) annotation(
-    Line(origin = {-1, 0}, points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{0, 62}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(wsensor.f, w2phi.u) annotation(
+    connect(j0.P[3], v_P_bff.P[1]) annotation(
-    Line(points = {{58, 90}, {78, 90}}, color = {0, 0, 127}));
+      Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(w2phi.y, rTF.phi) annotation(
+    connect(hinge.p, v_P_bff.P[2]) annotation(
-    Line(points = {{102, 90}, {110, 90}, {110, 0}, {48, 0}}, color = {0, 0, 127}, arrow = {Arrow.None, Arrow.Filled}));
+      Line(points = {{-70, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(v_com_in.P[2], mass.p) annotation(
+    connect(v_com_bff.P[2], rTF1.p2) annotation(
-    Line(points = {{40, -40}, {80, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(w_com.P[3], wsensor.p) annotation(
+    connect(rTF1.p1, v_com_i.P[1]) annotation(
-    Line(points = {{0, 120}, {44, 90}}, color = {0, 0, 127}, pattern = LinePattern.Dash, thickness = 0.75, arrow = {Arrow.None, Arrow.Open}, arrowSize = 6));
+      Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(w_com.P[1], m_inertial.p) annotation(
+    connect(g.p, v_com_i.P[3]) annotation(
-    Line(points = {{0, 120}, {40, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(ground2.p, j1.P[1]) annotation(
+    connect(v_com_i.P[2], m.p) annotation(
-    Line(points = {{-72, 120}, {-40, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(j1.P[2], w_com.P[4]) annotation(
+    connect(v_com_i.f[1], vx2x.u) annotation(
-    Line(points = {{-40, 120}, {0, 120}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.Half, Arrow.None}, arrowSize = 6));
+      Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127}));
-    connect(ground.p, v_p_bff.P[2]) annotation(
+    connect(v_com_i.f[2], vy2y.u) annotation(
-    Line(points = {{-72, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{46, -26}, {50, -80}, {58, -80}}, color = {0, 0, 127}));
+    connect(hinge2.p, j1.P[1]) annotation(
+      Line(points = {{-70, 100}, {-40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
     connect(j1.P[3], w_hinge.P[1]) annotation(
-    Line(points = {{-40, 120}, {-40, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{-40, 100}, {-40, 70}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(w_hinge.P[2], hinge_r.p) annotation(
+    connect(w_hinge.P[2], r.p) annotation(
-    Line(points = {{-40, 90}, {-80, 90}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{-40, 70}, {-70, 70}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(g.p, v_com_in.P[3]) annotation(
+    connect(vy2y.y, vis2d1.y) annotation(
-    Line(points = {{10, -40}, {40, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127}));
-    connect(v_com_bff.P[2], rTF.p2) annotation(
+    connect(vx2x.y, vis2d1.x) annotation(
-    Line(points = {{40, 40}, {40, 8}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
+      Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127}));
-    connect(rTF.p1, v_com_in.P[1]) annotation(
-    Line(points = {{40, -8}, {40, -40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(v_com_in.P[4], v_inertial.p) annotation(
-    Line(points = {{40, -40}, {40, -54}}, color = {0, 85, 0}, pattern = LinePattern.Dash, thickness = 0.75, arrow = {Arrow.None, Arrow.Open}, arrowSize = 6));
-    connect(v_inertial.f0, vx_to_x.u) annotation(
-    Line(points = {{42, -66}, {42, -70}, {58, -70}}, color = {0, 0, 127}));
-    connect(v_inertial.f1, vy_to_y.u) annotation(
-    Line(points = {{38, -66}, {38, -100}, {58, -100}}, color = {0, 0, 127}));
     connect(w2phi.y, vis2d1.phi) annotation(
-    Line(points = {{102, 90}, {110, 90}, {110, 0}, {141, 0}}, color = {0, 0, 127}));
+      Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127}));
-    connect(vx_to_x.y, vis2d1.x) annotation(
+  connect(w_com.P[3], j1.P[2]) annotation(
-    Line(points = {{82, -70}, {110, -70}, {110, -6}, {141, -6}}, color = {0, 0, 127}));
+      Line(points = {{0, 100}, {-40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-    connect(vy_to_y.y, vis2d1.y) annotation(
-    Line(points = {{82, -100}, {118, -100}, {118, -12}, {141, -12}}, color = {0, 0, 127}));
     annotation(
       uses(Modelica(version = "4.1.0")),
       experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
-    Diagram(coordinateSystem(extent = {{-100, 140}, {160, -120}})),
+      Diagram(coordinateSystem(extent = {{-100, 120}, {140, -100}})),
       Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}})),
       version = "");
+  end test2d;
+
+  model mTFrot2lin
+    BondGraph.BondPort pR annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph._2D.BondPort pT annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
+    parameter Real r_body[2] = {1, 0};
+  protected
+    Real B[2];
+  equation
+    B = {-r_body[2], r_body[1]};
+    pT.f = B*pR.f;
+    pR.e = B[1]*pT.e[1] + B[2]*pT.e[2];
+    annotation(
+      Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
+  end mTFrot2lin;
+
+  model rTF
+    BondGraph._2D.BondPort p1 "Port 1" annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph._2D.BondPort p2 "Port 2" annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
+    Modelica.Blocks.Interfaces.RealInput phi "angle" annotation(
+      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
+  protected
+    Real R[2, 2];
+  equation
+    R = [cos(phi), -sin(phi); sin(phi), cos(phi)];
+    p1.e = R*p2.e;
+    transpose(R)*p1.f = p2.f;
+    annotation(
+      Diagram(graphics),
+      Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
+  end rTF;
+  annotation(
+    uses(Modelica(version = "4.1.0")));
 end test2d;

test3d.mo

@@ -1,158 +0,0 @@
-model test3d
-  import _3D = BondGraph._3D;
-
-  // ---------------------------------------------------------------------------
-  // Parameters
-  // ---------------------------------------------------------------------------
-  parameter Real J[3,3] = [0.05, 0, 0;
-                           0, 0.06, 0;
-                           0, 0, 0.02] "Body inertia tensor in body frame";
-  parameter Real m[3,3] = [1, 0, 0;
-                           0, 1, 0;
-                           0, 0, 1] "Translational inertia (mass matrix)";
-  parameter Real r_body[3] = {0.5, 0, 0} "Vector from hinge point to COM in body frame";
-  parameter Real R_rot[3,3] = [0.02, 0, 0;
-                               0, 0.02, 0;
-                               0, 0, 0.02] "Rotational damping matrix";
-  parameter Real g = 9.81 "Gravity magnitude";
-
-  // ---------------------------------------------------------------------------
-  // Rotational dynamics (body frame)
-  // ---------------------------------------------------------------------------
-  _3D.J1 w_com(N = 6, s = {1, -1, -1, -1, -1, -1}) "Common angular velocity junction";
-  _3D.I J_inertial(I = J) "Angular momentum storage";
-  _3D.R hinge_r(R = R_rot) "Rotational damping";
-  _3D.fsensor3d wsensor "Measures body angular velocity omega";
-
-  // Gyroscopic term implementation (power-conserving structure):
-  // - TF maps omega -> h = J*omega (angular momentum)
-  // - mGY with modulation S(omega) generates tau_g = omega x h
-  _3D.TF Hmap(n = J) "Maps between omega and angular-momentum port";
-  _3D.mGY gyro "Modulated gyrator for omega x h coupling";
-
-  // ---------------------------------------------------------------------------
-  // Kinematics and frame transforms
-  // ---------------------------------------------------------------------------
-  _3D.TransRotUtils.mTFrot3lin mTFrot3lin(r_body = r_body) "v = omega x r_body coupling";
-  _3D.J0 j0(N = 3, s = {1, 1, -1}) "Velocity composition at COM in body frame";
-  _3D.J1 v_p_bff(N = 2, s = {1, 1}) "Hinge-point velocity (body frame)";
-  _3D.J1 v_com_bff(N = 2, s = {-1, -1}) "COM velocity (body frame)";
-  _3D.TransRotUtils.rTF3D rTF3D "Body <-> inertial frame transform";
-
-  // ---------------------------------------------------------------------------
-  // Translational dynamics (inertial frame)
-  // ---------------------------------------------------------------------------
-  _3D.J1 v_com_in(N = 4, s = {1, -1, -1, 1}) "COM velocity in inertial frame";
-  _3D.I mass(I = m) "Translational momentum storage";
-  _3D.Sf ground(f0 = {0, 0, 0}) "Ground translational velocity";
-  _3D.mSe gravity "Gravity effort source";
-  _3D.fsensor3d v_inertial "Measures inertial COM velocity";
-
-  // ---------------------------------------------------------------------------
-  // States and signals
-  // ---------------------------------------------------------------------------
-  Real omega[3] "Body angular velocity";
-  Real h[3] "Body angular momentum J*omega";
-  Real S_omega[3,3] "Skew matrix of omega";
-
-  Real phi(start = 0) "Roll";
-  Real theta(start = 0.1) "Pitch";
-  Real psi(start = 0) "Yaw";
-  Real euler_dot[3] "{phi_dot, theta_dot, psi_dot}";
-
-  Real x(start = -0.5) "COM x (inertial)";
-  Real y(start = 0) "COM y (inertial)";
-  Real z(start = -0.2) "COM z (inertial)";
-
-  Modelica.Blocks.Sources.RealExpression xSig(y = x);
-  Modelica.Blocks.Sources.RealExpression ySig(y = y);
-  Modelica.Blocks.Sources.RealExpression zSig(y = z);
-  Modelica.Blocks.Sources.RealExpression phiSig(y = phi);
-  Modelica.Blocks.Sources.RealExpression thetaSig(y = theta);
-  Modelica.Blocks.Sources.RealExpression psiSig(y = psi);
-  vis3d vis3d1;
-
-equation
-  // ---------------------------------------------------------------------------
-  // Rotational network connections
-  // ---------------------------------------------------------------------------
-  connect(w_com.P[1], J_inertial.p);
-  connect(w_com.P[2], mTFrot3lin.pR);
-  connect(w_com.P[3], wsensor.p);
-  connect(w_com.P[4], hinge_r.p);
-  connect(w_com.P[5], gyro.p1);
-  connect(w_com.P[6], Hmap.p1);
-  connect(Hmap.p2, gyro.p2);
-
-  // ---------------------------------------------------------------------------
-  // Body-frame COM kinematics and frame transform
-  // ---------------------------------------------------------------------------
-  connect(mTFrot3lin.pT, j0.P[1]);
-  connect(v_com_bff.P[1], j0.P[2]);
-  connect(j0.P[3], v_p_bff.P[1]);
-  connect(ground.p, v_p_bff.P[2]);
-
-  connect(v_com_bff.P[2], rTF3D.p2);
-  connect(rTF3D.p1, v_com_in.P[1]);
-
-  // Feed frame-transform angles from state variables.
-  connect(phiSig.y, rTF3D.phi);
-  connect(thetaSig.y, rTF3D.theta);
-  connect(psiSig.y, rTF3D.psi);
-  connect(phiSig.y, vis3d1.phi);
-  connect(thetaSig.y, vis3d1.theta);
-  connect(psiSig.y, vis3d1.psi);
-
-  // ---------------------------------------------------------------------------
-  // Translational dynamics connections
-  // ---------------------------------------------------------------------------
-  connect(v_com_in.P[2], mass.p);
-  connect(gravity.p, v_com_in.P[3]);
-  connect(v_com_in.P[4], v_inertial.p);
-
-  // Gravity as effort in inertial frame.
-  gravity.e0 = 0;
-  gravity.e1 = 0;
-  gravity.e2 = g;
-
-  // ---------------------------------------------------------------------------
-  // Gyroscopic modulation and H-map related equations
-  // ---------------------------------------------------------------------------
-  omega = {wsensor.f0, wsensor.f1, wsensor.f2};
-  h = J * omega;
-
-  // Skew matrix S(omega) so that S(omega)*x = omega x x.
-  S_omega = [0, -omega[3], omega[2];
-             omega[3], 0, -omega[1];
-             -omega[2], omega[1], 0];
-  gyro.m = S_omega;
-
-  // ---------------------------------------------------------------------------
-  // 3D attitude kinematics (explicit H(q) mapping form)
-  // Using ZYX convention with body rates omega -> Euler rates.
-  // Note: singular at cos(theta)=0.
-  // ---------------------------------------------------------------------------
-  euler_dot[1] = omega[1] + sin(phi) * tan(theta) * omega[2] + cos(phi) * tan(theta) * omega[3];
-  euler_dot[2] = cos(phi) * omega[2] - sin(phi) * omega[3];
-  euler_dot[3] = sin(phi) / cos(theta) * omega[2] + cos(phi) / cos(theta) * omega[3];
-
-  der(phi) = euler_dot[1];
-  der(theta) = euler_dot[2];
-  der(psi) = euler_dot[3];
-
-  // ---------------------------------------------------------------------------
-  // Position integration
-  // ---------------------------------------------------------------------------
-  der(x) = v_inertial.f0;
-  der(y) = v_inertial.f1;
-  der(z) = v_inertial.f2;
-
-  connect(xSig.y, vis3d1.x);
-  connect(ySig.y, vis3d1.y);
-  connect(zSig.y, vis3d1.z);
-
-  annotation(
-    uses(Modelica(version = "4.1.0")),
-    experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
-    Diagram(coordinateSystem(extent = {{-140, 160}, {200, -160}})));
-end test3d;

vis2d.mo

@@ -89,8 +89,9 @@ protected
                        0, 0, 1], zeros(3)));
 equation
   r = {x, y, 0};
-  Rz = [cos(phi), -sin(phi), 0;
+  // Negate phi here since shapes use inverse frame-mapping
-        sin(phi),  cos(phi), 0;
+  Rz = [cos(-phi), -sin(-phi), 0;
+        sin(-phi),  cos(-phi), 0;
         0,         0,        1];
       
   annotation(

vis3d.mo

@@ -1,103 +0,0 @@
-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;