Improved visualization of couple of components, esp. from 'Parts'

PlanarMechanics/Joints/Prismatic.mo

@@ -31,11 +31,11 @@ model Prismatic "A prismatic joint"
     "Width of prismatic joint box"
     annotation (Dialog(tab="Animation",
       group="if animation = true", enable=animate));
-  input Types.Color boxColor=Types.Defaults.JointColor
+  input PlanarMechanics.Types.Color boxColor=Types.Defaults.JointColor
     "Color of prismatic joint box"
     annotation (HideResult=true, Dialog(tab="Animation",
       group="if animation = true", enable=animate, colorSelector=true));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
+  input PlanarMechanics.Types.SpecularCoefficient
     specularCoefficient = planarWorld.defaultSpecularCoefficient
     "Reflection of ambient light (= 0: light is completely absorbed)"
     annotation (HideResult=true, Dialog(tab="Animation",

PlanarMechanics/Joints/Revolute.mo

@@ -31,11 +31,11 @@ model Revolute "A revolute joint"
     "Diameter of cylinder representing the joint axis"
     annotation (Dialog(tab="Animation",
       group="if animation = true", enable=animate));
-  input Modelica.Mechanics.MultiBody.Types.Color cylinderColor=Types.Defaults.JointColor
+  input PlanarMechanics.Types.Color cylinderColor=Types.Defaults.JointColor
     "Color of cylinder representing the joint axis"
     annotation (HideResult=true, Dialog(colorSelector=true,tab="Animation",
       group="if animation = true", enable=animate));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
+  input PlanarMechanics.Types.SpecularCoefficient
     specularCoefficient = planarWorld.defaultSpecularCoefficient
     "Reflection of ambient light (= 0: light is completely absorbed)"
     annotation (HideResult=true, Dialog(tab="Animation",

PlanarMechanics/Parts/Body.mo

@@ -23,13 +23,18 @@ model Body "Body component with mass and inertia"
       tab="Animation",
       group="if animation = true",
       enable=animate));
-       parameter Boolean enableGravity = true
+  parameter Boolean enableGravity = true
     "= true, if gravity effects should be taken into account" annotation (
     Evaluate=true,
     HideResult=true,
     choices(checkBox=true));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
-    specularCoefficient = planarWorld.defaultSpecularCoefficient
+  input Types.Color sphereColor=Types.Defaults.BodyColor "Color of sphere"
+    annotation (HideResult = true, Dialog(
+      colorSelector=true,
+      tab="Animation",
+      group="if animation = true",
+      enable=animate));
+  input Types.SpecularCoefficient specularCoefficient = planarWorld.defaultSpecularCoefficient
     "Reflection of ambient light (= 0: light is completely absorbed)"
     annotation (HideResult = true, Dialog(tab="Animation", group="if animation = true", enable=animate));
   SI.Force f[2] "Force";
@@ -45,7 +50,7 @@ model Body "Body component with mass and inertia"
   //Visualization
   MB.Visualizers.Advanced.Shape sphere(
     shapeType="sphere",
-    color={63,63,255},
+    color=sphereColor,
     specularCoefficient=specularCoefficient,
     length=sphereDiameter,
     width=sphereDiameter,

PlanarMechanics/Parts/Damper.mo

@@ -1,6 +1,6 @@
 within PlanarMechanics.Parts;
 model Damper "Linear (velocity dependent) damper"
-  extends PlanarMechanics.Interfaces.PartialTwoFrames;
+  extends BaseClasses.TwoConnectorShapes;
   extends
     Modelica.Thermal.HeatTransfer.Interfaces.PartialElementaryConditionalHeatPort(
      final T=293.15);
@@ -21,33 +21,26 @@ model Damper "Linear (velocity dependent) damper"
     "Cause an assert when the distance between frame_a and frame_b < s_small" annotation (Dialog(
       tab="Advanced"));
 
-  parameter SI.Length zPosition = planarWorld.defaultZPosition
-    "Position z of cylinder representing the fixed translation" annotation (Dialog(
-      tab="Animation", group="if animation = true", enable=animate));
+  //Visualization
   parameter SI.Length length_a = planarWorld.defaultForceLength
     "Length of cylinder at frame_a side"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
+    annotation (Dialog(tab="Animation", group="Damper cylinders (if animation = true)", enable=animate));
   input SI.Diameter diameter_a = planarWorld.defaultForceWidth
     "Diameter of cylinder at frame_a side"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
+    annotation (Dialog(tab="Animation", group="Damper cylinders (if animation = true)", enable=animate));
   input SI.Diameter diameter_b = 0.6*diameter_a
     "Diameter of cylinder at frame_b side"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
-  input Types.Color color_a = {100,100,100} "Color at frame_a"
-    annotation (HideResult=true, Dialog(tab="Animation", group="if animation = true", enable=animate, colorSelector=true));
-  input Types.Color color_b = {155,155,155} "Color at frame_b"
-    annotation (HideResult=true, Dialog(tab="Animation", group="if animation = true", enable=animate, colorSelector=true));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient specularCoefficient = planarWorld.defaultSpecularCoefficient
-    "Reflection of ambient light (= 0: light is completely absorbed)"
-    annotation (HideResult=true, Dialog(tab="Animation", group="if animation = true", enable=animate));
+    annotation (Dialog(tab="Animation", group="Damper cylinders (if animation = true)", enable=animate));
+  input Types.Color color_a = {100,100,100} "Color of cylinder at frame_a side"
+    annotation (HideResult=true, Dialog(tab="Animation", group="Damper cylinders (if animation = true)", enable=animate, colorSelector=true));
+  input Types.Color color_b = {155,155,155} "Color of cylinder at frame_b side"
+    annotation (HideResult=true, Dialog(tab="Animation", group="Damper cylinders (if animation = true)", enable=animate, colorSelector=true));
 
   SI.Distance length
     "Distance between the origin of frame_a and the origin of frame_b";
-  parameter Boolean animate = true "Enable animation"
-                                                     annotation(Dialog(group="Animation"));
 protected
   SI.Position r0_b[3] = {d0[1], d0[2], 0} * noEvent(min(length_a, length));
-  MB.Visualizers.Advanced.Shape shape_a(
+  MB.Visualizers.Advanced.Shape cylinder_a(
     shapeType="cylinder",
     color=color_a,
     specularCoefficient=specularCoefficient,
@@ -58,8 +51,7 @@ protected
     widthDirection={0,0,1},
     r=MB.Frames.resolve1(planarWorld.R,{frame_a.x,frame_a.y,zPosition})+planarWorld.r_0,
     R=planarWorld.R) if planarWorld.enableAnimation and animate;
-
-  MB.Visualizers.Advanced.Shape shape_b(
+  MB.Visualizers.Advanced.Shape cylinder_b(
     shapeType="cylinder",
     color=color_b,
     specularCoefficient=specularCoefficient,
@@ -125,14 +117,6 @@ equation
           extent={{-150,80},{150,40}},
           textString="%name",
           lineColor={0,0,255}),
-        Text(
-          extent={{-108,-24},{-72,-49}},
-          lineColor={128,128,128},
-          textString="a"),
-        Text(
-          extent={{72,-24},{108,-49}},
-          lineColor={128,128,128},
-          textString="b"),
         Text(
           extent={{-100,-50},{100,-80}},
           lineColor={0,0,0},

PlanarMechanics/Parts/FixedRotation.mo

@@ -4,7 +4,7 @@ model FixedRotation "A fixed translation between two components (rigid rod)"
 
   parameter SI.Angle alpha "Fixed rotation angle";
   parameter Boolean animate = true "= true, if animation shall be enabled"
-                                           annotation(Dialog(group="Animation"));
+    annotation(Dialog(group="Animation"));
   parameter SI.Length zPosition = planarWorld.defaultZPosition
     "Position z of cylinder representing the fixed rotation" annotation (Dialog(
       tab="Animation",
@@ -16,17 +16,17 @@ model FixedRotation "A fixed translation between two components (rigid rod)"
   parameter SI.Length cylinderDiameter=planarWorld.defaultJointWidth
     "Diameter of cylinder representing the fixed rotation"
     annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
-  input Modelica.Mechanics.MultiBody.Types.Color cylinderColor={155,155,155}
+  input PlanarMechanics.Types.Color color=Types.Defaults.RodColor
     "Color of cylinder representing the fixed rotation"
     annotation (HideResult = true, Dialog(colorSelector=true,tab="Animation", group="if animation = true", enable=animate));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
+  input PlanarMechanics.Types.SpecularCoefficient
     specularCoefficient = planarWorld.defaultSpecularCoefficient
     "Reflection of ambient light (= 0: light is completely absorbed)"
     annotation (HideResult = true, Dialog(tab="Animation", group="if animation = true", enable=animate));
   //Visualization
   MB.Visualizers.Advanced.Shape cylinder(
     shapeType="cylinder",
-    color=cylinderColor,
+    color=color,
     specularCoefficient=specularCoefficient,
     length=cylinderLength,
     width=cylinderDiameter,

PlanarMechanics/Parts/FixedTranslation.mo

@@ -4,25 +4,33 @@ model FixedTranslation "A fixed translation between two components (rigid rod)"
 
   parameter SI.Length r[2] = {1,0}
     "Fixed x,y-length of the rod resolved w.r.t to body frame_a at phi = 0";
-  final parameter SI.Length l = sqrt(r*r) "Length of vector r";
+  final parameter SI.Length l = Modelica.Math.Vectors.length(r)
+    "Length of vector r";
   SI.Position r0[2] "Length of the rod resolved w.r.t to inertal frame";
   Real R[2,2] "Rotation matrix";
+
   parameter Boolean animate = true "= true, if animation shall be enabled"
-                                           annotation(Dialog(group="Animation"));
+    annotation(Dialog(group="Animation"));
   parameter SI.Length zPosition = planarWorld.defaultZPosition
     "Position z of cylinder representing the fixed translation" annotation (Dialog(
       tab="Animation", group="if animation = true", enable=animate));
   parameter SI.Distance width=l/planarWorld.defaultWidthFraction
     "Width of shape"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
+    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
+  input PlanarMechanics.Types.Color color=Types.Defaults.RodColor
+    "Color of shape" annotation (HideResult = true, Dialog(
+      colorSelector=true,
+      tab="Animation",
+      group="if animation = true",
+      enable=animate));
+  input PlanarMechanics.Types.SpecularCoefficient
     specularCoefficient = planarWorld.defaultSpecularCoefficient
     "Reflection of ambient light (= 0: light is completely absorbed)"
-    annotation (HideResult = true, Dialog(tab="Animation", group="if animation = true", enable=animation));
+    annotation (HideResult = true, Dialog(tab="Animation", group="if animation = true", enable=animate));
   //Visualization
   MB.Visualizers.Advanced.Shape cylinder(
     shapeType="cylinder",
-    color={128,128,128},
+    color=color,
     specularCoefficient=specularCoefficient,
     length=l,
     width=width,

PlanarMechanics/Parts/Spring.mo

@@ -1,6 +1,6 @@
 within PlanarMechanics.Parts;
 model Spring "Linear 2D translational spring"
-  extends PlanarMechanics.Interfaces.PartialTwoFrames;
+  extends BaseClasses.TwoConnectorShapes;
 
   parameter StateSelect stateSelect=StateSelect.default
     "Priority to use phi and w as states" annotation(HideResult=true,Dialog(tab="Advanced"));
@@ -32,21 +32,15 @@ model Spring "Linear 2D translational spring"
     "Cause an assert when the distance between frame_a and frame_b < s_small" annotation (Dialog(
       tab="Advanced"));
 
-  parameter SI.Length zPosition = planarWorld.defaultZPosition
-    "Position z of cylinder representing the fixed translation" annotation (Dialog(
-      tab="Animation", group="if animation = true", enable=animate));
+  //Visualization
   parameter Integer numberOfWindings = 5 "Number of spring windings"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
-  input SI.Position width = planarWorld.defaultForceWidth "Width of spring"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
-  input SI.Position coilWidth = width/10 "Width of spring coil"
-    annotation (Dialog(tab="Animation", group="if animation = true", enable=animate));
+    annotation (Dialog(tab="Animation", group="Spring coil (if animation = true)", enable=animate));
+  input SI.Length width = planarWorld.defaultJointWidth "Width of spring"
+    annotation (Dialog(tab="Animation", group="Spring coil (if animation = true)", enable=animate));
+  input SI.Length coilWidth = width/10 "Width of spring coil"
+    annotation (Dialog(tab="Animation", group="Spring coil (if animation = true)", enable=animate));
   input Types.Color color = Types.Defaults.SpringColor "Color of spring"
-    annotation (HideResult=true, Dialog(colorSelector=true, tab="Animation", group="if animation = true", enable=animate));
-  input Modelica.Mechanics.MultiBody.Types.SpecularCoefficient
-    specularCoefficient = planarWorld.defaultSpecularCoefficient
-    "Reflection of ambient light (= 0: light is completely absorbed)"
-    annotation (HideResult=true, Dialog(tab="Animation", group="if animation = true", enable=animate));
+    annotation (HideResult=true, Dialog(tab="Animation", group="Spring coil (if animation = true)", enable=animate, colorSelector=true));
 
   SI.Length length
     "Distance between the origin of frame_a and the origin of frame_b";
@@ -55,33 +49,8 @@ model Spring "Linear 2D translational spring"
   Real e_rel_0[3](each final unit="1")
     "Unit vector (3D) in direction from frame_a to frame_b, resolved in multibody world frame";
 
-  //Visualization
-  import MB = Modelica.Mechanics.MultiBody;
-  parameter Boolean animate = true "Enable animation"
-                                                     annotation(Dialog(group="Animation"));
-  MB.Visualizers.Advanced.Shape contactA(
-    shapeType="cylinder",
-    specularCoefficient=specularCoefficient,
-    length=0.1,
-    width=0.1,
-    height=0.1,
-    lengthDirection={0,0,1},
-    widthDirection={1,0,0},
-    r_shape={0,0,-0.06},
-    r=MB.Frames.resolve1(planarWorld.R,{frame_a.x,frame_a.y,zPosition})+planarWorld.r_0,
-    R=planarWorld.R) if planarWorld.enableAnimation and animate;
-  MB.Visualizers.Advanced.Shape contactB(
-    shapeType="cylinder",
-    specularCoefficient=specularCoefficient,
-    length=0.1,
-    width=0.1,
-    height=0.1,
-    lengthDirection={0,0,1},
-    widthDirection={1,0,0},
-    r_shape={0,0,-0.06},
-    r=MB.Frames.resolve1(planarWorld.R,{frame_b.x,frame_b.y,zPosition})+planarWorld.r_0,
-    R=planarWorld.R) if planarWorld.enableAnimation and animate;
-  MB.Visualizers.Advanced.Shape lineShape(
+protected
+  MB.Visualizers.Advanced.Shape shapeCoil(
     shapeType="spring",
     color=color,
     specularCoefficient=specularCoefficient,
@@ -161,15 +130,7 @@ for this situation:
         Text(
           extent={{-150,80},{150,40}},
           textString="%name",
-          lineColor={0,0,255}),
-        Text(
-          extent={{-108,-24},{-72,-49}},
-          lineColor={128,128,128},
-          textString="a"),
-        Text(
-          extent={{72,-24},{108,-49}},
-          lineColor={128,128,128},
-          textString="b")}),
+          lineColor={0,0,255})}),
     Diagram(coordinateSystem(
         preserveAspectRatio=true,
         extent={{-100,-100},{100,100}},