Specifications

186
AnyFolder EnvironmentModel = {
/* **********************************************************
This folder contains the definition of the Environment
- GlobalRefFrame
********************************************************** */
AnyFixedRefFrame GlobalRef = {
#include "drawcoorsystem.any"
AnyRefNode Hub = {
sRel = {0.4, 1.4, 0.0};
AnyDrawNode drw = {};
};
};//GlobalRef
};
When you reload the model and open a Model View Window you will see that a point has appeared in the
form of a little grey ball in front of the chest. The next step is to define the wheel:
Place the cursor just below the definition of GlobalRef. Go to the Class Tab in the left pane Editor Window;
unfold the class list and find AnySeg. Right-click the class and insert a class template. You will obtain this:
AnyFixedRefFrame GlobalRef = {
#include "drawcoorsystem.any"
AnyRefNode Hub = {
sRel = {0.4, 1.4, 0.0};
AnyDrawNode drw = {};
};
};//GlobalRef
AnySeg <ObjectName>
{
//r0 = {0, 0, 0};
//rDot0 = {0, 0, 0};
//Axes0 = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
//omega0 = {0, 0, 0};
Mass = 0;
Jii = {0, 0, 0};
//Jij = {0, 0, 0};
//sCoM = {0, 0, 0};
};
We fill in the blanks and add a draw segment:
AnySeg Wheel = {
r0 = .GlobalRef.Hub.sRel;
Mass = 5;
Jii = {0.003, 0.003, 0.3};
AnyDrawSeg drw = {};
};
Notice that we have given the wheel mass properties that causes the draw segment to take on a wheel
shape. We shall also add two points to the wheel that can subsequently function as handles:
AnySeg Wheel = {
r0 = .GlobalRef.Hub.sRel;
Mass = 5;