iaor/Test_two_reference_frames.any at master · AnyBody/iaor · GitHub

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#include "InstantaneousAxisOfRotation.any"

Main = {

  AnyFolder Model ={
    AnyFixedRefFrame Frame  ={      AnyDrawRefFrame drw={};     };

    AnySeg Object1 ={      Mass=1;      Jii={0,0,0};    };

    AnyStdJoint StdJoint = {
      AnyFixedRefFrame &ref1=.Frame;
      AnySeg &ref2=.Object1;
    };

    AnySeg Object2 ={      Mass=1;      Jii={0,0,0};      AnyDrawRefFrame drw={};    };

    AnyKinLinear lin ={
      AnyFixedRefFrame &ref1=.Frame;
      AnySeg &ref2=.Object2;
    };

    AnyKinRotational rot ={
      AnyFixedRefFrame &ref1=.Frame;
      AnySeg &ref2=.Object2;
      Type =RotAxesAngles;
    };

    AnyKinEqInterPolDriver  Lindrv ={
      Type =Bspline;
      AnyKinLinear &ref=.lin;
      T={0,0.25,0.5,1};
      Data={1*{0,0.5,0.75,1},1*{0,0.5,0.75,1},1*{0,0.5,0.75,1}};
    };

    AnyKinEqInterPolDriver  rotdrv ={
      AnyKinRotational &ref=.rot;
      Type =Bspline;
      T={0,0.25,0.5,1};
      Data=1*{0*{0,0.5,0.75,1},2*{0,0.5,0.75,1},10*{0,0.5,0.75,1}};
      //Data=1*{0*{0,0.5,0.75,1},0*{0,0.5,0.75,1},10*{0,0.5,0.75,1}};
    };

   InstantaneousAxisOfRotation IAOR (Body1=.Object1, Body2=.Object2) ={};
  };

  AnyBodyStudy study ={
    AnyFolder &ref=.Model;
    Gravity ={0,0,-9.81};
    tEnd=0.99;
  };
};