modelica · tobolar · Jan 29, 2021 · Jan 29, 2021 · Jan 29, 2021 · Jan 29, 2021
diff --git a/Modelica/Mechanics/MultiBody/Forces/Internal/ZeroForceAndTorque.mo b/Modelica/Mechanics/MultiBody/Forces/Internal/ZeroForceAndTorque.mo
@@ -1,8 +1,7 @@
 within Modelica.Mechanics.MultiBody.Forces.Internal;
 model ZeroForceAndTorque "Set force and torque to zero"
-   extends Modelica.Blocks.Icons.Block;
-  Interfaces.Frame_a frame_a
-    annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
+  extends Modelica.Blocks.Icons.Block;
+  extends Interfaces.PartialOneFrame_a;
 equation
   frame_a.f = zeros(3);
   frame_a.t = zeros(3);

diff --git a/Modelica/Mechanics/MultiBody/Interfaces/OneFrame_a.mo b/Modelica/Mechanics/MultiBody/Interfaces/OneFrame_a.mo
@@ -0,0 +1,18 @@
+within Modelica.Mechanics.MultiBody.Interfaces;
+partial model OneFrame_a
+  "Base model for components providing one frame_a connector and outer world"
+
+  Interfaces.Frame_a frame_a
+    "Coordinate system fixed to the component with one cut-force and cut-torque"
+    annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
+protected
+  outer Modelica.Mechanics.MultiBody.World world;
+
+  annotation (Documentation(info="<html>
+<p>
+This partial model provides one frame_a connector and access to
+the world object.
+Therefore, inherit from this partial model if both is needed.
+</p>
+</html>"));
+end OneFrame_a;
diff --git a/Modelica/Mechanics/MultiBody/Interfaces/PartialConstraint.mo b/Modelica/Mechanics/MultiBody/Interfaces/PartialConstraint.mo
@@ -0,0 +1,73 @@
+within Modelica.Mechanics.MultiBody.Interfaces;
+partial model PartialConstraint
+  "Base model for elementary constraints"
+  extends PartialTwoFrames;
+
+  parameter Boolean x_locked=true
+    "= true, if constraint force in x-direction, resolved in frame_a"
+    annotation (Dialog(group="Constrain translational motion"), choices(checkBox=true));
+  parameter Boolean y_locked=true
+    "= true, if constraint force in y-direction, resolved in frame_a"
+    annotation (Dialog(group="Constrain translational motion"), choices(checkBox=true));
+  parameter Boolean z_locked=true
+    "= true, if constraint force in z-direction, resolved in frame_a"
+    annotation (Dialog(group="Constrain translational motion"), choices(checkBox=true));
+
+protected
+  SI.Position r_rel_a[3]
+    "Position vector from origin of frame_a to origin of frame_b, resolved in frame_a";
+  Frames.Orientation R_rel
+    "Relative orientation object from frame_a to frame_b";
+  SI.InstantaneousPower P "Instantaneous power";
+
+equation
+  // Determine relative position and orientation
+  r_rel_a = Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
+  R_rel = Frames.relativeRotation(frame_a.R, frame_b.R);
+
+  // Constraint equations concerning translations
+  if x_locked then
+    r_rel_a[1]=0;
+  else
+    frame_a.f[1]=0;
+  end if;
+
+  if y_locked then
+    r_rel_a[2]=0;
+  else
+    frame_a.f[2]=0;
+  end if;
+
+  if z_locked then
+    r_rel_a[3]=0;
+  else
+    frame_a.f[3]=0;
+  end if;
+
+  // Force and torque balance
+  zeros(3) = frame_a.f + Frames.resolve1(R_rel, frame_b.f);
+  zeros(3) = frame_a.t + Frames.resolve1(R_rel, frame_b.t) - cross(r_rel_a, frame_a.f);
+  // - cross(r_rel_a, frame_a.f) gives the same result like cross(r_rel_a, Frames.resolve1(R_rel, frame_b.f))
+
+  // Instantaneous power
+  P = frame_a.t * Frames.angularVelocity2(frame_a.R) +
+      frame_b.t * Frames.angularVelocity2(frame_b.R) +
+      frame_a.f * Frames.resolve2(frame_a.R, der(frame_a.r_0)) +
+      frame_b.f * Frames.resolve2(frame_b.R, der(frame_b.r_0));
+
+  annotation (Documentation(info="<html>
+<p>
+All <strong>elementary joints defined by constraints</strong> should inherit
+from this base model, i.e., joints that are directly defined by constraint
+equations between the two frames.
+</p>
+<p>
+This partial model provides relative kinematic quantities <code>r_rel_a</code>
+and <code>R_rel</code> between the two frame connectors <code>frame_a</code>
+and <code>frame_b</code>, and basic equations constraining translational movement.
+The inheriting class shall additionally provide corresponding equations
+constraining rotational movement.
+</p>
+</html>
+"));
+end PartialConstraint;
diff --git a/Modelica/Mechanics/MultiBody/Interfaces/PartialElementaryJoint.mo b/Modelica/Mechanics/MultiBody/Interfaces/PartialElementaryJoint.mo
@@ -1,18 +1,11 @@
 within Modelica.Mechanics.MultiBody.Interfaces;
 partial model PartialElementaryJoint
   "Base model for elementary joints (has two frames + outer world + assert to guarantee that the joint is connected)"
+  extends PartialTwoFrames;
 
-  Interfaces.Frame_a frame_a "Coordinate system fixed to the joint with one cut-force and cut-torque" annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
-  Interfaces.Frame_b frame_b "Coordinate system fixed to the joint with one cut-force and cut-torque" annotation (Placement(transformation(extent={{84,-16},{116,16}})));
-
-protected
-  outer Modelica.Mechanics.MultiBody.World world;
 equation
   Connections.branch(frame_a.R, frame_b.R);
-  assert(cardinality(frame_a) > 0,
-    "Connector frame_a of joint object is not connected");
-  assert(cardinality(frame_b) > 0,
-    "Connector frame_b of joint object is not connected");
+
   annotation (Documentation(info="<html>
 <p>
 All <strong>elementary joints</strong> should inherit from this base model, i.e.,
@@ -30,5 +23,6 @@ This partial model provides two frame connectors, a \"Connections.branch\"
 between frame_a and frame_b, access to the world
 object and an assert to check that both frame connectors are connected.
 </p>
-</html>"));
+</html>
+"));
 end PartialElementaryJoint;
diff --git a/Modelica/Mechanics/MultiBody/Interfaces/PartialOneFrame_a.mo b/Modelica/Mechanics/MultiBody/Interfaces/PartialOneFrame_a.mo
@@ -1,10 +1,8 @@
 within Modelica.Mechanics.MultiBody.Interfaces;
 partial model PartialOneFrame_a
   "Base model for components providing one frame_a connector + outer world + assert to guarantee that the component is connected"
+  extends OneFrame_a;
 
-  Interfaces.Frame_a frame_a "Coordinate system fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
-protected
-  outer Modelica.Mechanics.MultiBody.World world;
 equation
   assert(cardinality(frame_a) > 0,
     "Connector frame_a of component is not connected");

diff --git a/Modelica/Mechanics/MultiBody/Interfaces/PartialTwoFrames.mo b/Modelica/Mechanics/MultiBody/Interfaces/PartialTwoFrames.mo
@@ -1,11 +1,8 @@
 within Modelica.Mechanics.MultiBody.Interfaces;
 partial model PartialTwoFrames
   "Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected"
+  extends TwoFrames;
 
-  Interfaces.Frame_a frame_a "Coordinate system a fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
-  Interfaces.Frame_b frame_b "Coordinate system b fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{84,-16},{116,16}})));
-protected
-  outer Modelica.Mechanics.MultiBody.World world;
 equation
   assert(cardinality(frame_a) > 0,
     "Connector frame_a of component is not connected");

diff --git a/Modelica/Mechanics/MultiBody/Interfaces/PartialTwoFramesDoubleSize.mo b/Modelica/Mechanics/MultiBody/Interfaces/PartialTwoFramesDoubleSize.mo
@@ -2,8 +2,8 @@ within Modelica.Mechanics.MultiBody.Interfaces;
 partial model PartialTwoFramesDoubleSize
   "Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected (default icon size is factor 2 larger as usual)"
 
-  Interfaces.Frame_a frame_a "Coordinate system fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{-108,-8},{-92,8}})));
-  Interfaces.Frame_b frame_b "Coordinate system fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{92,-8},{108,8}})));
+  Interfaces.Frame_a frame_a "Coordinate system a fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{-108,-8},{-92,8}})));
+  Interfaces.Frame_b frame_b "Coordinate system b fixed to the component with one cut-force and cut-torque" annotation (Placement(transformation(extent={{92,-8},{108,8}})));
 
 protected
   outer Modelica.Mechanics.MultiBody.World world;

diff --git a/Modelica/Mechanics/MultiBody/Interfaces/PartialVisualizer.mo b/Modelica/Mechanics/MultiBody/Interfaces/PartialVisualizer.mo
@@ -1,13 +1,9 @@
 within Modelica.Mechanics.MultiBody.Interfaces;
 partial model PartialVisualizer
   "Base model for visualizers (has a frame_a on the left side + outer world + assert to guarantee that the component is connected)"
+  extends PartialOneFrame_a(
+    frame_a "Coordinate system in which visualization data is resolved");
 
-  Interfaces.Frame_a frame_a "Coordinate system in which visualization data is resolved" annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
-protected
-  outer Modelica.Mechanics.MultiBody.World world;
-equation
-  assert(cardinality(frame_a) > 0,
-    "Connector frame_a of visualizer object is not connected");
   annotation (Documentation(info="<html>
 <p>
 This partial model provides one frame_a connector, access to the world

diff --git a/Modelica/Mechanics/MultiBody/Interfaces/TwoFrames.mo b/Modelica/Mechanics/MultiBody/Interfaces/TwoFrames.mo
@@ -0,0 +1,36 @@
+within Modelica.Mechanics.MultiBody.Interfaces;
+partial model TwoFrames
+  "Base model for components providing two frame connectors and outer world"
+
+  Interfaces.Frame_a frame_a
+    "Coordinate system a fixed to the component with one cut-force and cut-torque"
+    annotation (Placement(transformation(extent={{-116,-16},{-84,16}})));
+  Interfaces.Frame_b frame_b
+    "Coordinate system b fixed to the component with one cut-force and cut-torque"
+    annotation (Placement(transformation(extent={{84,-16},{116,16}})));
+protected
+  outer Modelica.Mechanics.MultiBody.World world;
+
+  annotation (
+    Icon(
+      coordinateSystem(
+        preserveAspectRatio=true,
+        extent={{-100,-100},{100,100}}),
+      graphics={
+        Text(
+          extent={{-136,-25},{-100,-50}},
+          textColor={128,128,128},
+          textString="a"),
+        Text(
+          extent={{100,-25},{136,-50}},
+          textColor={128,128,128},
+          textString="b")}),
+    Documentation(info="<html>
+<p>
+This partial model provides two frame connectors and access to
+the world object.
+Therefore, inherit from this partial model if the two frame
+connectors are needed.
+</p>
+</html>"));
+end TwoFrames;
diff --git a/Modelica/Mechanics/MultiBody/Interfaces/package.order b/Modelica/Mechanics/MultiBody/Interfaces/package.order
@@ -4,10 +4,13 @@ Frame_b
 Frame_resolve
 FlangeWithBearing
 FlangeWithBearingAdaptor
-PartialTwoFrames
-PartialTwoFramesDoubleSize
+OneFrame_a
 PartialOneFrame_a
 PartialOneFrame_b
+TwoFrames
+PartialTwoFrames
+PartialTwoFramesDoubleSize
+PartialConstraint
 PartialElementaryJoint
 PartialForce
 LineForceBase

diff --git a/Modelica/Mechanics/MultiBody/Joints/Constraints/Prismatic.mo b/Modelica/Mechanics/MultiBody/Joints/Constraints/Prismatic.mo
@@ -1,17 +1,7 @@
 within Modelica.Mechanics.MultiBody.Joints.Constraints;
 model Prismatic
   "Prismatic cut-joint and translational directions may be constrained or released"
-  extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;
-
-  parameter Boolean x_locked=true
-    "= true: constraint force in x-direction, resolved in frame_a"
-    annotation (Dialog(group="Constraints"),choices(checkBox=true));
-  parameter Boolean y_locked=true
-    "= true: constraint force in y-direction, resolved in frame_a"
-    annotation (Dialog(group="Constraints"),choices(checkBox=true));
-  parameter Boolean z_locked=true
-    "= true: constraint force in z-direction, resolved in frame_a"
-    annotation (Dialog(group="Constraints"),choices(checkBox=true));
+  extends Modelica.Mechanics.MultiBody.Interfaces.PartialConstraint;
 
   parameter Boolean animation=true
     "= true, if animation shall be enabled (show sphere)";
@@ -25,13 +15,6 @@ model Prismatic
     "Reflection of ambient light (= 0: light is completely absorbed)"
       annotation (Dialog(group="if animation = true", enable=animation));
 
-protected
-  Frames.Orientation R_rel
-    "Dummy or relative orientation object from frame_a to frame_b";
-  SI.Position r_rel_a[3]
-    "Position vector from origin of frame_a to origin of frame_b, resolved in frame_a";
-  SI.InstantaneousPower P;
-
 public
   Visualizers.Advanced.Shape sphere(
     shapeType="sphere",
@@ -46,40 +29,10 @@ public
     r=frame_a.r_0,
     R=frame_a.R) if world.enableAnimation and animation;
 equation
-  // Determine relative position vector resolved in frame_a
-  R_rel = Frames.relativeRotation(frame_a.R, frame_b.R);
-  r_rel_a = Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
-
   // Constraint equations concerning rotations
   // Same logic as for overdetermined connection graph loops to get good residuals.
   zeros(3)=Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint(frame_a.R, frame_b.R);
 
-  // Constraint equations concerning translations
-  if x_locked then
-    r_rel_a[1]=0;
-  else
-    frame_a.f[1]=0;
-  end if;
-
-  if y_locked then
-    r_rel_a[2]=0;
-  else
-    frame_a.f[2]=0;
-  end if;
-
-  if z_locked then
-    r_rel_a[3]=0;
-  else
-    frame_a.f[3]=0;
-  end if;
-
-  zeros(3) = frame_a.t + Frames.resolve1(R_rel, frame_b.t) + cross(r_rel_a,
-    Frames.resolve1(R_rel, frame_b.f));
-  zeros(3) = Frames.resolve1(R_rel, frame_b.f) + frame_a.f;
-  P = frame_a.t*Frames.angularVelocity2(frame_a.R) + frame_b.t*
-    Frames.angularVelocity2(frame_b.R) + frame_b.f*Frames.resolve2(frame_b.R,
-    der(frame_b.r_0)) + frame_a.f*Frames.resolve2(frame_a.R, der(frame_a.r_0));
-
   annotation (
     defaultComponentName="constraint",
     Icon(coordinateSystem(