BodyShapeRigid body with mass, inertia tensor, different shapes for animation, and two frame connectors (12 potential states) 
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Rigid body with mass and inertia tensor and two frame connectors. All parameter vectors have to be resolved in frame_a. The inertia tensor has to be defined with respect to a coordinate system that is parallel to frame_a with the origin at the center of mass of the body. The coordinate system frame_b is always parallel to frame_a.
By default, this component is visualized by any shape that can be defined with Modelica.Mechanics.MultiBody.Visualizers.FixedShape. This shape is placed between frame_a and frame_b (default: length(shape) = Frames.length(r)). Additionally a sphere may be visualized that has its center at the center of mass. Note, that the animation may be switched off via parameter animation = false.
The following shapes can be defined via parameter shapeType, e.g., shapeType="cone":
A BodyShape component has potential states. For details of these states and of the "Advanced" menu parameters, see model MultiBody.Parts.Body.
animation 
Value: true Type: Boolean Description: = true, if animation shall be enabled (show shape between frame_a and frame_b and optionally a sphere at the center of mass) 

animateSphere 
Value: true Type: Boolean Description: = true, if mass shall be animated as sphere provided animation=true 
r 
Value: Type: Position[3] (m) Description: Vector from frame_a to frame_b resolved in frame_a 
r_CM 
Value: Type: Position[3] (m) Description: Vector from frame_a to center of mass, resolved in frame_a 
m 
Value: Type: Mass (kg) Description: Mass of rigid body 
I_11 
Value: 0.001 Type: Inertia (kg·m²) Description: (1,1) element of inertia tensor 
I_22 
Value: 0.001 Type: Inertia (kg·m²) Description: (2,2) element of inertia tensor 
I_33 
Value: 0.001 Type: Inertia (kg·m²) Description: (3,3) element of inertia tensor 
I_21 
Value: 0 Type: Inertia (kg·m²) Description: (2,1) element of inertia tensor 
I_31 
Value: 0 Type: Inertia (kg·m²) Description: (3,1) element of inertia tensor 
I_32 
Value: 0 Type: Inertia (kg·m²) Description: (3,2) element of inertia tensor 
angles_fixed 
Value: false Type: Boolean Description: = true, if angles_start are used as initial values, else as guess values 
angles_start 
Value: {0, 0, 0} Type: Angle[3] (rad) Description: Initial values of angles to rotate frame_a around 'sequence_start' axes into frame_b 
sequence_start 
Value: {1, 2, 3} Type: RotationSequence Description: Sequence of rotations to rotate frame_a into frame_b at initial time 
w_0_fixed 
Value: false Type: Boolean Description: = true, if w_0_start are used as initial values, else as guess values 
w_0_start 
Value: {0, 0, 0} Type: AngularVelocity[3] (rad/s) Description: Initial or guess values of angular velocity of frame_a resolved in world frame 
z_0_fixed 
Value: false Type: Boolean Description: = true, if z_0_start are used as initial values, else as guess values 
z_0_start 
Value: {0, 0, 0} Type: AngularAcceleration[3] (rad/s²) Description: Initial values of angular acceleration z_0 = der(w_0) 
shapeType 
Value: "cylinder" Type: ShapeType Description: Type of shape 
r_shape 
Value: {0, 0, 0} Type: Position[3] (m) Description: Vector from frame_a to shape origin, resolved in frame_a 
lengthDirection 
Value: to_unit1(r  r_shape) Type: Axis Description: Vector in length direction of shape, resolved in frame_a 
widthDirection 
Value: {0, 1, 0} Type: Axis Description: Vector in width direction of shape, resolved in frame_a 
length 
Value: Modelica.Math.Vectors.length(r  r_shape) Type: Length (m) Description: Length of shape 
width 
Value: length / world.defaultWidthFraction Type: Distance (m) Description: Width of shape 
height 
Value: width Type: Distance (m) Description: Height of shape 
extra 
Value: 0.0 Type: ShapeExtra Description: Additional parameter depending on shapeType (see docu of Visualizers.Advanced.Shape) 
sphereDiameter 
Value: 2 * width Type: Diameter (m) Description: Diameter of sphere 
sequence_angleStates 
Value: {1, 2, 3} Type: RotationSequence Description: Sequence of rotations to rotate world frame into frame_a around the 3 angles used as potential states 
color 
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.BodyColor Type: Color Description: Color of shape 

sphereColor 
Default Value: color Type: Color Description: Color of sphere of mass 
specularCoefficient 
Default Value: world.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) 
frameTranslation 
Type: FixedTranslation 


body 
Type: Body 

world 
Type: World 

shape1 
Type: Shape 

shape2 
Type: Shape 
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