Model Description Entries

Some of the keywords mark model entities, described in the following.

aero0

The aerodynamic body.

aero0: <label> <node_label>
    (Vec3)<trail_left> (Vec3)<lead_left>
    (Vec3)<trail_right> (Vec3)<lead_right>

The points are expressed as 3D vectors, whose origin and orientation is expressed in the reference frame of the node. All data is in on one line, without continuation.

aero2

The two-node aerodynamic beam.

aero2: <label>
    <node1_label>
    (Vec3)<trail_left> (Vec3)<lead_left>
    <node2_label>
    (Vec3)<trail_right> (Vec3)<lead_right>

The points are expressed as 3D vectors, whose origin and orientation is expressed in the reference frame of the respective nodes. All data is in on one line, without continuation.

aero3

The three-node aerodynamic beam.

aero3: <label>
    <node1_label>
    (Vec3)<trail_left> (Vec3)<lead_left>
    <node2_label>
    (Vec3)<trail_center> (Vec3)<lead_center>
    <node3_label>
    (Vec3)<trail_right> (Vec3)<lead_right>

The points are expressed as 3D vectors, whose origin and orientation is expressed in the reference frame of the respective nodes. All data is in on one line, without continuation.

beam2

The two-node beam.

beam2: <label>
    <node1_label> (Vec3)<offset1>
    <node2_label> (Vec3)<offset2>

The beam label is followed by the label and the offset of each node. All data is in on one line, without continuation.

beam3

The three-node beam.

beam3: <label>
    <node1_label> (Vec3)<offset1>
    <node2_label> (Vec3)<offset2>
    <node3_label> (Vec3)<offset3>

The beam label is followed by the label and the offset of each node. All data is in on one line, without continuation.

clamp

The clamp joint

clamp: <label>
    <node_label> (Vec3)<position> (Mat3x3)<orientation>
    <node_label> (Vec3)<position> (Mat3x3)<orientation>

The format is quite obscure; the position and the orientation are repeated twice. Moreover, the position is always a vector of zeros, and the orientation is the identity matrix. Basically, the location of the clamp is assumed to be that of the node. All data is in on one line, without continuation.

deformable joints

The deformable hinge, the deformable displacement joint and the deformable joint, including the invariant versions, where defined

<joint_name>: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The position vectors indicates the location of the joint in the reference frame of the respective node, while the matrix orientation indicates the orientation of the joint in the reference frame of the respective node. All data is in on one line, without continuation.

distance

The distance joint

distance: <label>
    <node1_label> (Vec3)<offset1>
    <node2_label> (Vec3)<offset2>

The label of the joint, followed by the label of each node and the offset of the respective joint extremity, in the reference frame of the node. All data is in on one line, without continuation. Both distance and distance with offset joints are logged like this.

inline

The inline joint

inline: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The label of the joint, followed by the label of the node that carries the reference line, the reference point position1 on the line and the orientation orientation1 of the line, such that axis 3 is aligned with the line. The second node label and the position of the point on the plane follow; orientation2 is the identity matrix. All data is in on one line, without continuation.

inplane

The inplane joint

inplane: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The label of the joint, followed by the label of the node that carries the reference plane, the reference point position1 on the plane and the orientation orientation1 of the plane, such that axis 3 is normal to the plane. The second node label and the position of the point on the plane follow; orientation2 is the identity matrix. All data is in on one line, without continuation.

prismatic

The prismatic joint

prismatic: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The position vectors are zero, while the orientation matrices indicate the orientation of the joint in the reference frame of the respective nodes. All data is in on one line, without continuation.

revolute hinge

The revolute hinge joint

revolutehinge: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The position vectors indicates the location of the joint in the reference frame of the respective node, while the matrix orientation indicates the orientation of the joint in the reference frame of the respective node. All data is in on one line, without continuation.

rod

The rod joint

rod: <label>
    <node1_label> (Vec3)<offset1>
    <node2_label> (Vec3)<offset2>

The label of the joint, followed by the label of each node and the offset of the respective joint extremity, in the reference frame of the node. All data is in on one line, without continuation. Both rod and rod with offset joints are logged like this.

spherical hinge

The spherical hinge joint

sphericalhinge: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The position vectors indicates the location of the joint in the reference frame of the respective node, while the matrix orientation indicates the orientation of the joint in the reference frame of the respective node. All data is in on one line, without continuation.

spherical pin

The spherical pin joint

sphericalpin: <label>
    <node_label> (Vec3)<position> (Mat3x3)<orientation>
    <node_label> (Vec3)<position> (Mat3x3)<orientation>

The format is quite obscure; the position and the orientation are repeated twice. The vector position indicates the location of the joint, while the matrix orientation is the identity matrix. All data is in on one line, without continuation.

structural node

The structural node

structural node: <label> (Vec3)<X> (Vec3)<cardan_angles>

The label of the node, the position X and the cardan_angles that express the orientation are given.

universal hinge

The universal hinge joint

universalhinge: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The position vectors indicates the location of the joint in the reference frame of the respective node, while the matrix orientation indicates the orientation of the joint in the reference frame of the respective node. All data is in on one line, without continuation.

universal pin

The universal pin joint

universalpin: <label>
    <node_label> (Vec3)<position> (Mat3x3)<orientation>
    <node_label> (Vec3)<relative_position> (Mat3x3)<relative_orientation>

The position vector and the orientation matrix indicate the location and the orientation of the joint in the global reference frame, while the relative_position vector and the relative_orientation matrix indicate the location and the orientation of the joint in the reference frame of the node. All data is in on one line, without continuation.

universal rotation

The universal rotation joint

universalrotation: <label>
    <node1_label> (Vec3)<position1> (Mat3x3)<orientation1>
    <node2_label> (Vec3)<position2> (Mat3x3)<orientation2>

The position vectors are zero, while the matrix orientation indicates the orientation of the joint in the reference frame of the respective node. All data is in on one line, without continuation.