Use Vector for visualization of positions in Sensors and Joints

Parti-Gyle · Jan 12, 2024 · de543f3 · de543f3
1 parent 9699613
commit de543f3
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Showing 4 changed files with 16 additions and 12 deletions.
diff --git a/Modelica/Mechanics/MultiBody/Joints/FreeMotion.mo b/Modelica/Mechanics/MultiBody/Joints/FreeMotion.mo
@@ -64,10 +64,11 @@ model FreeMotion
     "Orientation object from frame_a to frame_b at initial time";
 
 protected
-  Visualizers.Advanced.Arrow arrow(
-    r_head=r_rel_a,
+  Visualizers.Advanced.Vector arrow(
+    coordinates=r_rel_a,
     color=arrowColor,
     specularCoefficient=specularCoefficient,
+    quantity=Types.VectorQuantity.RelativePosition,
     r=frame_a.r_0,
     R=frame_a.R) if world.enableAnimation and animation;
 

diff --git a/Modelica/Mechanics/MultiBody/Sensors/AbsoluteSensor.mo b/Modelica/Mechanics/MultiBody/Sensors/AbsoluteSensor.mo
@@ -136,10 +136,11 @@ protected
 protected
   outer Modelica.Mechanics.MultiBody.World world;
 
-  Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow(
-    r_head=frame_a.r_0,
+  Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector arrow(
+    coordinates=frame_a.r_0,
+    quantity=Types.VectorQuantity.RelativePosition,
     color=arrowColor,
-    specularCoefficient) if world.enableAnimation and animation;
+    specularCoefficient=specularCoefficient) if world.enableAnimation and animation;
 
 protected
   AbsoluteVelocity absoluteVelocity(resolveInFrame=Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.world) if get_a

diff --git a/Modelica/Mechanics/MultiBody/Sensors/Distance.mo b/Modelica/Mechanics/MultiBody/Sensors/Distance.mo
@@ -26,9 +26,10 @@ model Distance
     "Prevent zero-division if distance between frame_a and frame_b is zero"
     annotation (Dialog(tab="Advanced"));
 protected
-  Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow(
+  Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector arrow(
     r=frame_a.r_0,
-    r_head=frame_b.r_0 - frame_a.r_0,
+    coordinates=frame_b.r_0 - frame_a.r_0,
+    quantity=Types.VectorQuantity.RelativePosition,
     color=arrowColor,
     specularCoefficient=specularCoefficient) if world.enableAnimation and animation;
 

diff --git a/Modelica/Mechanics/MultiBody/Sensors/RelativeSensor.mo b/Modelica/Mechanics/MultiBody/Sensors/RelativeSensor.mo
@@ -136,11 +136,12 @@ protected
 protected
   outer Modelica.Mechanics.MultiBody.World world;
 
-  Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow(
+  Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector arrow(
     r=frame_a.r_0,
-    r_head=frame_b.r_0 - frame_a.r_0,
+    coordinates=frame_b.r_0 - frame_a.r_0,
+    quantity=Types.VectorQuantity.RelativePosition,
     color=arrowColor,
-    specularCoefficient) if world.enableAnimation and animation;
+    specularCoefficient=specularCoefficient) if world.enableAnimation and animation;
 equation
   connect(relativePosition.frame_a, frame_a) annotation (Line(
       points={{-80,0},{-100,0}},
@@ -211,7 +212,7 @@ equation
       color={95,95,95},
       pattern=LinePattern.Dot));
   connect(frame_resolve, relativePosition.frame_resolve) annotation (Line(
-      points={{100,80},{50,80},{50,20},{-30,20},{-30,8.1},{-60,8.1}},
+      points={{100,80},{50,80},{50,20},{-30,20},{-30,8},{-60,8}},
       color={95,95,95},
       pattern=LinePattern.Dot));
   connect(frame_resolve, zeroForce3.frame_a) annotation (Line(
@@ -220,7 +221,7 @@ equation
       pattern=LinePattern.Dot));
   connect(relativeAngularVelocity.frame_resolve, frame_resolve) annotation (
       Line(
-      points={{70,-21.9},{70,-21.9},{70,20},{50,20},{50,80},{100,80}},
+      points={{70,-22},{70,-22},{70,20},{50,20},{50,80},{100,80}},
       color={95,95,95},
       pattern=LinePattern.Dot));
   connect(der2.y, transformVector_a_rel.r_in) annotation (Line(