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;