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;