Add back nullRotation. Needed to merge extends in older MSL.

sjoelund · Dec 10, 2021 · 803f3e4 · 803f3e4
1 parent 2e0eb40
commit 803f3e4
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Showing 2 changed files with 31 additions and 3 deletions.
diff --git a/ModelicaServices/AnimationInterface/Frames/nullRotation.mo b/ModelicaServices/AnimationInterface/Frames/nullRotation.mo
@@ -0,0 +1,28 @@
+within ModelicaServices.AnimationInterface.Frames;
+function nullRotation
+  "Return orientation object that does not rotate a frame"
+  extends Icons.Function;
+  output Orientation R
+    "Orientation object such that frame 1 and frame 2 are identical";
+algorithm
+  R := Orientation(T=identity(3),w= zeros(3));
+  annotation(Inline=true, Documentation(info="<html>
+<h4>Syntax</h4>
+<blockquote><pre>
+R = Frames.<strong>nullRotation</strong>();
+</pre></blockquote>
+
+<h4>Description</h4>
+<p>
+The function call <code>Frames.<strong>nullRotation</strong>()</code> returns an orientation matrix&nbsp;R
+describing the orientation object to rotate frame&nbsp;1 into frame&nbsp;2, if frame&nbsp;1 and frame&nbsp;2 are identical.
+(= transformation matrix is identity matrix and angular velocity is zero).
+</p>
+
+<h4>See also</h4>
+<p>
+<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.TransformationMatrices.nullRotation\">TransformationMatrices.nullRotation</a>,
+<a href=\"modelica://Modelica.Mechanics.MultiBody.Frames.Quaternions.nullRotation\">Quaternions.nullRotation</a>.
+</p>
+</html>"));
+end nullRotation;
diff --git a/ModelicaServices/AnimationInterface/package.mo b/ModelicaServices/AnimationInterface/package.mo
@@ -5,7 +5,7 @@ package AnimationInterface
   partial model PartialShape "Interface for 3D animation of elementary shapes"
     parameter Types.ShapeType shapeType="box"
       "Type of shape (box, sphere, cylinder, pipecylinder, cone, pipe, beam, gearwheel, spring, <external shape>)";
-    input Frames.Orientation R=Frames.Orientation(T=identity(3),w=zeros(3))
+    input Frames.Orientation R=Frames.nullRotation()
       "Orientation object to rotate the world frame into the object frame" annotation(Dialog);
     input Types.Position r[3]={0,0,0}
       "Position vector from origin of world frame to origin of object frame, resolved in world frame" annotation(Dialog);
@@ -35,7 +35,7 @@ This model is documented at
   end PartialShape;
 
   partial model PartialVector "Interface for 3D animation of a vector quantity (force, torque etc)"
-    input Frames.Orientation R=Frames.Orientation(T=identity(3),w=zeros(3))
+    input Frames.Orientation R=Frames.nullRotation()
       "Orientation object to rotate the world frame into the vector frame" annotation(Dialog);
     input Types.Position r[3]={0,0,0}
       "Position vector from origin of world frame to origin of vector frame, resolved in world frame" annotation(Dialog);
@@ -59,7 +59,7 @@ This model is documented at
   end PartialVector;
 
   partial model PartialSurface "Interface for 3D animation of surfaces"
-    input Frames.Orientation R=Frames.Orientation(T=identity(3),w=zeros(3))
+    input Frames.Orientation R=Frames.nullRotation()
       "Orientation object to rotate the world frame into the surface frame"
       annotation(Dialog(group="Surface frame"));
     input Types.Position r_0[3]={0,0,0}