## ModelicaAdditions.MultiBody.Visualizers

For animation of across vector quantities.

### Information

    Special classes that store
    vector, acceleration, angular velocity,
    and angular acceleration at a cut.

    By connecting these to a cut they animate the
    relevant quantities in the cut.

    The class also contain sensors for forces, torques,
    and a sensor that measure both forces and torques.

    Note that these sensors measure the forces and torques
    transmitted through the sensor. This is necessary
    since forces and torques are flow quantities.

## ModelicaAdditions.MultiBody.Visualizers.Velocity

### Modelica definition

    model Velocity
      extends Interfaces.OneFrame_a;
      VisualVector velocity(
        Material={0,0,1,0.5},
        category="velocity",
        r=r0a,
        Size=va,
        S=Sa);
    equation
      fa = zeros(3);
      ta = zeros(3);
    end Velocity;

## ModelicaAdditions.MultiBody.Visualizers.Acceleration

### Modelica definition

    model Acceleration
      extends Interfaces.OneFrame_a;
      VisualVector acceleration(
        Material={1,1,0,0.5},
        category="acceleration",
        r=r0a,
        Size=aa,
        S=Sa);
    equation
      fa = zeros(3);
      ta = zeros(3);
    end Acceleration;

## ModelicaAdditions.MultiBody.Visualizers.AngularVelocity

### Modelica definition

    model AngularVelocity
      extends Interfaces.OneFrame_a;
      VisualVector angular_velocity(
        Material={0,1,1,0.5},
        category="angular velocity",
        r=r0a,
        Size=wa,
        S=Sa);
    equation
      fa = zeros(3);
      ta = zeros(3);
    end AngularVelocity;

## ModelicaAdditions.MultiBody.Visualizers.AngularAcceleration

### Modelica definition

    model AngularAcceleration
      extends Interfaces.OneFrame_a;
      VisualVector angular_acceleration(
        Material={1,0,1,0.5},
        category="angular acceleration",
        r=r0a,
        Size=za,
        S=Sa);
    equation
      fa = zeros(3);
      ta = zeros(3);
    end AngularAcceleration;

## ModelicaAdditions.MultiBody.Visualizers.ForceTorqueSensor

### Modelica definition

    model ForceTorqueSensor
      extends Interfaces.TwoTreeFrames;
      VisualVector force(
        category="force",
        r=r0a,
        Size=fa,
        S=Sa);
      VisualVector torque(
        Material={0,1,0,0.5},
        category="torque",
        r=r0a,
        Size=ta,
        S=Sa);
    equation
      Sb = Sa;
      wb = wa;
      zb = za;

      r0b = r0a;
      vb = va;
      ab = aa;
      fa = fb;
      ta = tb;
    end ForceTorqueSensor;

## ModelicaAdditions.MultiBody.Visualizers.ForceSensor

### Modelica definition

    model ForceSensor
      extends Interfaces.TwoTreeFrames;
      VisualVector force(
        category="force",
        r=r0a,
        Size=fa,
        S=Sa);
    equation
      // Similar to FrameTranslation with r=0.
      Sb = Sa;
      wb = wa;
      zb = za;

      r0b = r0a;
      vb = va;
      ab = aa;
      fa = fb;
      ta = tb;
    end ForceSensor;

## ModelicaAdditions.MultiBody.Visualizers.TorqueSensor

### Modelica definition

    model TorqueSensor
      extends Interfaces.TwoTreeFrames;
      VisualVector torque(
        Material={0,1,0,0.5},
        category="torque",
        r=r0a,
        Size=ta,
        S=Sa);
    equation
      // Similar to FrameTranslation with r=0.
      Sb = Sa;
      wb = wa;
      zb = za;

      r0b = r0a;
      vb = va;
      ab = aa;
      fa = fb;
      ta = tb;
    end TorqueSensor;