package test2d
  model test2d
    BondGraph.J1 w_com(N = 3, s = {1, 1, 1}) annotation(
      Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}})));
    BondGraph.I moi(I = 0.01) annotation(
      Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}})));
    mTFrot2lin mTFrot2lin1(r_body = {0.5, 0}) 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}})));
    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}})));
    BondGraph._2D.J1 v_com_bff(N = 2, s = {1, 1}) annotation(
      Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.Sf hinge(f0 = {0, 0}) annotation(
      Placement(transformation(origin = {-78, 40}, extent = {{-10, -10}, {10, 10}})));
    rTF rTF1 annotation(
      Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
    Modelica.Blocks.Continuous.Integrator w2phi(k = 1)  annotation(
      Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.I m(I = [1, 0; 0, 1]) annotation(
      Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}})));
    BondGraph._2D.Se g(e0 = {0, -9.81}) annotation(
      Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Continuous.Integrator vx2x(y_start = -0.5) annotation(
      Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}})));
    Modelica.Blocks.Continuous.Integrator vy2y(y_start = 0)  annotation(
      Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}})));
 BondGraph.J0 j1(N = 3, s = {-1, -1, 1}) annotation(
      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 = {118, -64}, extent = {{-10, -10}, {10, 10}})));
  equation
    connect(w_com.f, w2phi.u) annotation(
      Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127}));
    connect(w2phi.y, rTF1.phi) annotation(
      Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127}));
    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(mTFrot2lin1.pT, j0.P[2]) annotation(
      Line(points = {{0, 62}, {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(
      Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(hinge.p, v_P_bff.P[2]) annotation(
      Line(points = {{-70, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_bff.P[2], rTF1.p2) annotation(
      Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(rTF1.p1, v_com_i.P[1]) annotation(
      Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(g.p, v_com_i.P[3]) annotation(
      Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_i.P[2], m.p) annotation(
      Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(v_com_i.f[1], vx2x.u) annotation(
      Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127}));
    connect(v_com_i.f[2], vy2y.u) annotation(
      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, 100}, {-40, 70}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(w_hinge.P[2], r.p) annotation(
      Line(points = {{-40, 70}, {-70, 70}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    connect(vy2y.y, vis2d1.y) annotation(
      Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127}));
    connect(vx2x.y, vis2d1.x) annotation(
      Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127}));
    connect(w2phi.y, vis2d1.phi) annotation(
      Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127}));
  connect(w_com.P[3], j1.P[2]) annotation(
      Line(points = {{0, 100}, {-40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
    annotation(
      uses(Modelica(version = "4.1.0")),
      experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
      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;