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Reintroduce Arrow as a visualization shape #4254

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7c7ce92
Reuse arrow definition as before f2eec0eff074fe7e20a13593f8c9e07b8a20…
tobolar Jan 10, 2024
9b23594
Use Arrow visualizer
tobolar Jan 11, 2024
022a951
Merge branch 'master' into issue3931_reintroduceArrowVisualizer
tobolar Feb 26, 2025
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62 changes: 44 additions & 18 deletions Modelica/Mechanics/MultiBody/Visualizers/Advanced/Arrow.mo
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -5,40 +5,65 @@ model Arrow
import Modelica.Mechanics.MultiBody.Types;
import Modelica.Mechanics.MultiBody.Frames;
import T = Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
import Modelica.Units.Conversions.to_unit1;

input Frames.Orientation R=Frames.nullRotation()
"Orientation object to rotate the world frame into the arrow frame" annotation(Dialog);
input SI.Position r[3]={0,0,0}
"Position vector from origin of world frame to origin of arrow frame, resolved in world frame" annotation(Dialog);
input SI.Position r_tail[3]={0,0,0}
"Position vector from origin of arrow frame to arrow tail, resolved in arrow frame" annotation(Dialog);
input Real r_head[3]={0,0,0}
"Vector from arrow tail to the head of the arrow, resolved in arrow frame" annotation(Dialog);
input Types.Color color=Modelica.Mechanics.MultiBody.Types.Defaults.ArrowColor
"Color of arrow" annotation(Dialog(colorSelector=true));
input SI.Position r_head[3]={0,0,0}
"Position vector from arrow tail to the head of the arrow, resolved in arrow frame" annotation(Dialog);
input SI.Diameter diameter=world.defaultArrowDiameter
"Diameter of arrow line" annotation(Dialog);
input SI.Diameter headDiameter=3*diameter "Diameter of arrow head" annotation(Dialog);
input SI.Length headLength=5*diameter "Length of arrow head" annotation(Dialog);
input Types.Color color=Types.Defaults.ArrowColor "Color of arrow" annotation(Dialog(colorSelector=true));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Material property describing the reflecting of ambient light (= 0 means, that light is completely absorbed)" annotation(Dialog);
parameter Types.VectorQuantity quantity=Types.VectorQuantity.RelativePosition
"Kind of physical quantity represented by the vector" annotation(Dialog);
input Boolean headAtOrigin=false "= true, if the vector is pointing towards the origin of vector frame" annotation(Dialog);
"Material property describing the reflecting of ambient light (= 0 means, that light is completely absorbed)"
annotation(Dialog);

protected
outer Modelica.Mechanics.MultiBody.World world;
SI.Position rvisobj[3] = r + T.resolve1(R.T, r_tail);
Visualizers.Advanced.Vector arrowLine(
coordinates=r_head,

SI.Length length = Modelica.Math.Vectors.length(r_head) "Length of arrow";
SI.Length headLengthMax = noEvent(min(length, headLength));
SI.Length lineLength = length - headLengthMax;
SI.Position r_shape_cone[3] = r_tail + r_head*noEvent(if length < 1.e-7 then 0 else lineLength/length)
"Position vector from origin of arrow frame to origin of head's cone shape, resolved in arrow frame";

Visualizers.Advanced.Shape arrowLine(
length=lineLength,
width=diameter,
height=diameter,
lengthDirection=to_unit1(r_head),
widthDirection={0,1,0},
shapeType="cylinder",
color=color,
specularCoefficient=specularCoefficient,
r_shape=r_tail,
r=r,
R=R) if world.enableAnimation;
Visualizers.Advanced.Shape arrowHead(
length=headLengthMax,
width=headDiameter,
height=headDiameter,
lengthDirection=to_unit1(r_head),
widthDirection={0,1,0},
shapeType="cone",
color=color,
specularCoefficient=specularCoefficient,
r=rvisobj,
quantity=quantity,
headAtOrigin=headAtOrigin,
r_shape=r_shape_cone,
r=r,
R=R) if world.enableAnimation;

annotation (
Documentation(info="<html>
<p>
Model <strong>Arrow</strong> defines an arrow that is dynamically
visualized at the defined location (see variables below).
If you want an arrow representing something that is not a&nbsp;relative position, use
If you want an arrow representing a&nbsp;<em>physical quantity</em>, consider using
<a href=\"modelica://Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector\">Vector</a> instead.
</p>

Expand All @@ -47,9 +72,10 @@ If you want an arrow representing something that is not a&nbsp;relative position
</div>

<p>
The dialog variables <code>R</code>, <code>r</code>, <code>r_tail</code>, <code>r_head</code>, <code>color</code>,
<code>specularCoefficient</code>, and <code>headAtOrigin</code>
are declared as (time varying) <strong>input</strong> variables.
The dialog variables <code>R</code>, <code>r</code>, <code>r_tail</code>, <code>r_head</code>,
<code>diameter</code>, <code>headDiameter</code>, <code>headLength</code>, <code>color</code>
and <code>specularCoefficient</code> are declared as (time varying) <strong>input</strong>
variables.
If the default equation is not appropriate, a&nbsp;corresponding
modifier equation has to be provided in the
model where an <strong>Arrow</strong> instance is used, e.g., in the form
Expand Down
91 changes: 25 additions & 66 deletions Modelica/Mechanics/MultiBody/Visualizers/FixedFrame.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@ model FixedFrame
annotation (Dialog(group="if animation = true", enable=animation));
input SI.Distance diameter=length/world.defaultFrameDiameterFraction
"Diameter of axes arrows" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color color_x=Modelica.Mechanics.MultiBody.Types.Defaults.
FrameColor "Color of x-arrow"
input Types.Color color_x=Modelica.Mechanics.MultiBody.Types.Defaults.FrameColor
"Color of x-arrow"
annotation (Dialog(colorSelector=true,group="if animation = true", enable=animation));
input Types.Color color_y=color_x "Color of y-arrow"
annotation (Dialog(colorSelector=true,group="if animation = true", enable=animation));
Expand All @@ -26,38 +26,23 @@ protected
parameter Boolean showLabels2= world.enableAnimation and animation and showLabels;

// Parameters to define axes
SI.Length headLength=min(length, diameter*Types.Defaults.FrameHeadLengthFraction);
SI.Length headLength=diameter*Types.Defaults.FrameHeadLengthFraction;
SI.Length headWidth=diameter*Types.Defaults.FrameHeadWidthFraction;
SI.Length lineLength=max(0, length - headLength);
SI.Length lineWidth=diameter;

// Parameters to define axes labels
SI.Length scaledLabel=Modelica.Mechanics.MultiBody.Types.Defaults.FrameLabelHeightFraction*diameter;
SI.Length scaledLabel=diameter*Types.Defaults.FrameLabelHeightFraction;
SI.Length labelStart=1.05*length;

// x-axis
Visualizers.Advanced.Shape x_arrowLine(
shapeType="cylinder",
length=lineLength,
width=lineWidth,
height=lineWidth,
lengthDirection={1,0,0},
widthDirection={0,1,0},
color=color_x,
specularCoefficient=specularCoefficient,
Visualizers.Advanced.Arrow x_arrow(
R=frame_a.R,
r=frame_a.r_0,
R=frame_a.R) if animation2;
Visualizers.Advanced.Shape x_arrowHead(
shapeType="cone",
length=headLength,
width=headWidth,
height=headWidth,
lengthDirection={1,0,0},
widthDirection={0,1,0},
r_head=length*{1,0,0},
diameter=diameter,
headDiameter=headWidth,
headLength=headLength,
color=color_x,
specularCoefficient=specularCoefficient,
r=frame_a.r_0 + Frames.resolve1(frame_a.R, {lineLength,0,0}),
R=frame_a.R) if animation2;
specularCoefficient=specularCoefficient) if animation2;
Visualizers.Internal.Lines x_label(
lines=scaledLabel*{[0,0; 1,1],[0,1; 1,0]},
diameter=diameter,
Expand All @@ -70,28 +55,15 @@ protected
R=frame_a.R) if showLabels2;

// y-axis
Visualizers.Advanced.Shape y_arrowLine(
shapeType="cylinder",
length=lineLength,
width=lineWidth,
height=lineWidth,
lengthDirection={0,1,0},
widthDirection={1,0,0},
color=color_y,
specularCoefficient=specularCoefficient,
Visualizers.Advanced.Arrow y_arrow(
R=frame_a.R,
r=frame_a.r_0,
R=frame_a.R) if animation2;
Visualizers.Advanced.Shape y_arrowHead(
shapeType="cone",
length=headLength,
width=headWidth,
height=headWidth,
lengthDirection={0,1,0},
widthDirection={1,0,0},
r_head=length*{0,1,0},
diameter=diameter,
headDiameter=headWidth,
headLength=headLength,
color=color_y,
specularCoefficient=specularCoefficient,
r=frame_a.r_0 + Frames.resolve1(frame_a.R, {0,lineLength,0}),
R=frame_a.R) if animation2;
specularCoefficient=specularCoefficient) if animation2;
Visualizers.Internal.Lines y_label(
lines=scaledLabel*{[0,0; 1,1.5],[0,1.5; 0.5,0.75]},
diameter=diameter,
Expand All @@ -104,28 +76,15 @@ protected
R=frame_a.R) if showLabels2;

// z-axis
Visualizers.Advanced.Shape z_arrowLine(
shapeType="cylinder",
length=lineLength,
width=lineWidth,
height=lineWidth,
lengthDirection={0,0,1},
widthDirection={0,1,0},
color=color_z,
specularCoefficient=specularCoefficient,
Visualizers.Advanced.Arrow z_arrow(
R=frame_a.R,
r=frame_a.r_0,
R=frame_a.R) if animation2;
Visualizers.Advanced.Shape z_arrowHead(
shapeType="cone",
length=headLength,
width=headWidth,
height=headWidth,
lengthDirection={0,0,1},
widthDirection={0,1,0},
r_head=length*{0,0,1},
diameter=diameter,
headDiameter=headWidth,
headLength=headLength,
color=color_z,
specularCoefficient=specularCoefficient,
r=frame_a.r_0 + Frames.resolve1(frame_a.R, {0,0,lineLength}),
R=frame_a.R) if animation2;
specularCoefficient=specularCoefficient) if animation2;
Visualizers.Internal.Lines z_label(
lines=scaledLabel*{[0,0; 1,0],[0,1; 1,1],[0,1; 1,0]},
diameter=diameter,
Expand Down
105 changes: 24 additions & 81 deletions Modelica/Mechanics/MultiBody/package.mo
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -170,37 +170,20 @@ model World
*/
protected
// Parameters to define axes
parameter SI.Length headLength=min(axisLength, axisDiameter*Types.Defaults.
FrameHeadLengthFraction);
parameter SI.Length headWidth=axisDiameter*Types.Defaults.
FrameHeadWidthFraction;
parameter SI.Length lineLength=max(0, axisLength - headLength);
parameter SI.Length lineWidth=axisDiameter;
parameter SI.Length headLength=axisDiameter*Types.Defaults.FrameHeadLengthFraction;
parameter SI.Length headWidth=axisDiameter*Types.Defaults.FrameHeadWidthFraction;

// Parameters to define axes labels
parameter SI.Length scaledLabel=Modelica.Mechanics.MultiBody.Types.Defaults.FrameLabelHeightFraction*
axisDiameter;
parameter SI.Length scaledLabel=axisDiameter*Types.Defaults.FrameLabelHeightFraction;
parameter SI.Length labelStart=1.05*axisLength;

// x-axis
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape x_arrowLine(
shapeType="cylinder",
length=lineLength,
width=lineWidth,
height=lineWidth,
lengthDirection={1,0,0},
widthDirection={0,1,0},
color=axisColor_x,
specularCoefficient=0) if enableAnimation and animateWorld;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape x_arrowHead(
shapeType="cone",
length=headLength,
width=headWidth,
height=headWidth,
lengthDirection={1,0,0},
widthDirection={0,1,0},
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow x_arrow(
r_head=axisLength*{1,0,0},
diameter=axisDiameter,
headDiameter=headWidth,
headLength=headLength,
color=axisColor_x,
r={lineLength,0,0},
specularCoefficient=0) if enableAnimation and animateWorld;
Modelica.Mechanics.MultiBody.Visualizers.Internal.Lines x_label(
lines=scaledLabel*{[0, 0; 1, 1],[0, 1; 1, 0]},
Expand All @@ -212,24 +195,12 @@ protected
specularCoefficient=0) if enableAnimation and animateWorld and axisShowLabels;

// y-axis
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape y_arrowLine(
shapeType="cylinder",
length=lineLength,
width=lineWidth,
height=lineWidth,
lengthDirection={0,1,0},
widthDirection={1,0,0},
color=axisColor_y,
specularCoefficient=0) if enableAnimation and animateWorld;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape y_arrowHead(
shapeType="cone",
length=headLength,
width=headWidth,
height=headWidth,
lengthDirection={0,1,0},
widthDirection={1,0,0},
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow y_arrow(
r_head=axisLength*{0,1,0},
diameter=axisDiameter,
headDiameter=headWidth,
headLength=headLength,
color=axisColor_y,
r={0,lineLength,0},
specularCoefficient=0) if enableAnimation and animateWorld;
Modelica.Mechanics.MultiBody.Visualizers.Internal.Lines y_label(
lines=scaledLabel*{[0, 0; 1, 1.5],[0, 1.5; 0.5, 0.75]},
Expand All @@ -241,24 +212,12 @@ protected
specularCoefficient=0) if enableAnimation and animateWorld and axisShowLabels;

// z-axis
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape z_arrowLine(
shapeType="cylinder",
length=lineLength,
width=lineWidth,
height=lineWidth,
lengthDirection={0,0,1},
widthDirection={0,1,0},
color=axisColor_z,
specularCoefficient=0) if enableAnimation and animateWorld;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape z_arrowHead(
shapeType="cone",
length=headLength,
width=headWidth,
height=headWidth,
lengthDirection={0,0,1},
widthDirection={0,1,0},
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow z_arrow(
r_head=axisLength*{0,0,1},
diameter=axisDiameter,
headDiameter=headWidth,
headLength=headLength,
color=axisColor_z,
r={0,0,lineLength},
specularCoefficient=0) if enableAnimation and animateWorld;
Modelica.Mechanics.MultiBody.Visualizers.Internal.Lines z_label(
lines=scaledLabel*{[0, 0; 1, 0],[0, 1; 1, 1],[0, 1; 1, 0]},
Expand All @@ -270,30 +229,14 @@ protected
specularCoefficient=0) if enableAnimation and animateWorld and axisShowLabels;

// Uniform gravity visualization
parameter SI.Length gravityHeadLength=min(gravityArrowLength,
gravityArrowDiameter*Types.Defaults.ArrowHeadLengthFraction);
parameter SI.Length gravityheadLength=gravityArrowDiameter*Types.Defaults.ArrowHeadLengthFraction;
parameter SI.Length gravityHeadWidth=gravityArrowDiameter*Types.Defaults.ArrowHeadWidthFraction;
parameter SI.Length gravityLineLength=max(0, gravityArrowLength - gravityHeadLength);
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape gravityArrowLine(
shapeType="cylinder",
length=gravityLineLength,
width=gravityArrowDiameter,
height=gravityArrowDiameter,
lengthDirection=n,
widthDirection={0,1,0},
color=gravityArrowColor,
r_shape=gravityArrowTail,
specularCoefficient=0) if enableAnimation and animateGravity and gravityType == GravityTypes.UniformGravity;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape gravityArrowHead(
shapeType="cone",
length=gravityHeadLength,
width=gravityHeadWidth,
height=gravityHeadWidth,
lengthDirection=n,
widthDirection={0,1,0},
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow gravityArrow(
r_head=gravityArrowLength*n,
diameter=gravityArrowDiameter,
headDiameter=gravityHeadWidth,
headLength=gravityheadLength,
color=gravityArrowColor,
r_shape=gravityArrowTail + Modelica.Math.Vectors.normalize(
n)*gravityLineLength,
specularCoefficient=0) if enableAnimation and animateGravity and gravityType == GravityTypes.UniformGravity;

// Point gravity visualization
Expand Down