Changeset 804

Timestamp:

11/16/07 09:10:19 (8 months ago)

Author:

otter

Message:

fixes ticket:1
- Removed SIunits.CelsiusTemperature, replaced references to it by

SIunits.Conversions.NonSIunits.Temperature_degC,
and updated the conversion script correspondingly.

- Changes in Blocks.Continuous seems to be just different

end-of-line characters (not clear what was changed).

- MultiBody: Changes for sensors (not yet finalized)

Location:

trunk/Modelica

Files:

• Blocks/Continuous.mo (modified) (12 diffs)
• Mechanics/MultiBody/Sensors.mo (modified) (5 diffs)
• Mechanics/MultiBody/Types.mo (modified) (1 diff)
• SIunits.mo (modified) (2 diffs)
• Scripts/ConvertModelica_from_2.2.2_to_3.0.mos (modified) (1 diff)
• Thermal/FluidHeatFlow.mo (modified) (3 diffs)

trunk/Modelica/Blocks/Continuous.mo

@@ -168 +168 @@
           extent={{-100,-100},{100,100}},
           grid={2,2}), graphics={
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
-          Line(points={{60,0},{100,0}}, color={0,0,255}), 
-          Text(
-            extent={{-36,60},{32,2}}, 
-            lineColor={0,0,0}, 
-            textString="k"), 
-          Text(
-            extent={{-32,0},{36,-58}}, 
-            lineColor={0,0,0}, 
-            textString="s"), 
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
+          Line(points={{60,0},{100,0}}, color={0,0,255}),
+          Text(
+            extent={{-36,60},{32,2}},
+            lineColor={0,0,0},
+            textString="k"),
+          Text(
+            extent={{-32,0},{36,-58}},
+            lineColor={0,0,0},
+            textString="s"),
           Line(points={{-46,0},{46,0}}, color={0,0,0})}));
   initial equation 
@@ -267 +267 @@
           extent={{-100,-100},{100,100}},
           grid={2,2}), graphics={
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Text(
-            extent={{-54,46},{-4,-48}}, 
-            lineColor={0,0,0}, 
-            textString="lim"), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
-          Line(points={{60,0},{100,0}}, color={0,0,255}), 
-          Text(
-            extent={{-8,60},{60,2}}, 
-            lineColor={0,0,0}, 
-            textString="k"), 
-          Text(
-            extent={{-8,-2},{60,-60}}, 
-            lineColor={0,0,0}, 
-            textString="s"), 
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Text(
+            extent={{-54,46},{-4,-48}},
+            lineColor={0,0,0},
+            textString="lim"),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
+          Line(points={{60,0},{100,0}}, color={0,0,255}),
+          Text(
+            extent={{-8,60},{60,2}},
+            lineColor={0,0,0},
+            textString="k"),
+          Text(
+            extent={{-8,-2},{60,-60}},
+            lineColor={0,0,0},
+            textString="s"),
           Line(points={{4,0},{46,0}}, color={0,0,0})}));
   initial equation 
@@ -378 +378 @@
           grid={2,2}), graphics={
           Text(
-            extent={{-54,52},{50,10}}, 
-            lineColor={0,0,0}, 
-            textString="k s"), 
-          Text(
-            extent={{-54,-6},{52,-52}}, 
-            lineColor={0,0,0}, 
-            textString="T s + 1"), 
-          Line(points={{-50,0},{50,0}}, color={0,0,0}), 
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
+            extent={{-54,52},{50,10}},
+            lineColor={0,0,0},
+            textString="k s"),
+          Text(
+            extent={{-54,-6},{52,-52}},
+            lineColor={0,0,0},
+            textString="T s + 1"),
+          Line(points={{-50,0},{50,0}}, color={0,0,0}),
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
           Line(points={{60,0},{100,0}}, color={0,0,255})}),
       Window(
@@ -486 +486 @@
           grid={2,2}), graphics={
           Text(
-            extent={{-48,52},{50,8}}, 
-            lineColor={0,0,0}, 
-            textString="k"), 
-          Text(
-            extent={{-54,-6},{56,-56}}, 
-            lineColor={0,0,0}, 
-            textString="T s + 1"), 
-          Line(points={{-50,0},{50,0}}, color={0,0,0}), 
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
+            extent={{-48,52},{50,8}},
+            lineColor={0,0,0},
+            textString="k"),
+          Text(
+            extent={{-54,-6},{56,-56}},
+            lineColor={0,0,0},
+            textString="T s + 1"),
+          Line(points={{-50,0},{50,0}}, color={0,0,0}),
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
           Line(points={{60,0},{100,0}}, color={0,0,255})}),
       Window(
@@ -595 +595 @@
           extent={{-100,-100},{100,100}},
           grid={2,2}), graphics={
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Text(
-            extent={{-60,60},{60,14}}, 
-            lineColor={0,0,0}, 
-            textString="k"), 
-          Text(
-            extent={{-60,8},{-32,-20}}, 
-            lineColor={0,0,0}, 
-            textString="s"), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
-          Line(points={{60,0},{100,0}}, color={0,0,255}), 
-          Line(points={{-50,14},{50,14}}, color={0,0,0}), 
-          Line(points={{-54,-20},{-38,-20}}, color={0,0,0}), 
-          Text(
-            extent={{-52,-26},{-36,-48}}, 
-            lineColor={0,0,0}, 
-            textString="w"), 
-          Line(points={{-50,2},{-56,-8},{-56,-28},{-52,-46}}, color={0,0,0}), 
-          Line(points={{-40,2},{-34,-10},{-34,-30},{-38,-46}}, color={0,0,0}), 
-          Text(
-            extent={{-34,8},{-22,-10}}, 
-            lineColor={0,0,0}, 
-            textString="2"), 
-          Text(
-            extent={{-34,-6},{6,-36}}, 
-            lineColor={0,0,0}, 
-            textString="+2D"), 
-          Text(
-            extent={{2,8},{30,-20}}, 
-            lineColor={0,0,0}, 
-            textString="s"), 
-          Line(points={{8,-20},{24,-20}}, color={0,0,0}), 
-          Text(
-            extent={{10,-26},{26,-48}}, 
-            lineColor={0,0,0}, 
-            textString="w"), 
-          Line(points={{12,2},{6,-8},{6,-28},{10,-46}}, color={0,0,0}), 
-          Line(points={{22,2},{28,-10},{28,-30},{24,-46}}, color={0,0,0}), 
-          Text(
-            extent={{30,2},{58,-42}}, 
-            lineColor={0,0,0}, 
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Text(
+            extent={{-60,60},{60,14}},
+            lineColor={0,0,0},
+            textString="k"),
+          Text(
+            extent={{-60,8},{-32,-20}},
+            lineColor={0,0,0},
+            textString="s"),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
+          Line(points={{60,0},{100,0}}, color={0,0,255}),
+          Line(points={{-50,14},{50,14}}, color={0,0,0}),
+          Line(points={{-54,-20},{-38,-20}}, color={0,0,0}),
+          Text(
+            extent={{-52,-26},{-36,-48}},
+            lineColor={0,0,0},
+            textString="w"),
+          Line(points={{-50,2},{-56,-8},{-56,-28},{-52,-46}}, color={0,0,0}),
+          Line(points={{-40,2},{-34,-10},{-34,-30},{-38,-46}}, color={0,0,0}),
+          Text(
+            extent={{-34,8},{-22,-10}},
+            lineColor={0,0,0},
+            textString="2"),
+          Text(
+            extent={{-34,-6},{6,-36}},
+            lineColor={0,0,0},
+            textString="+2D"),
+          Text(
+            extent={{2,8},{30,-20}},
+            lineColor={0,0,0},
+            textString="s"),
+          Line(points={{8,-20},{24,-20}}, color={0,0,0}),
+          Text(
+            extent={{10,-26},{26,-48}},
+            lineColor={0,0,0},
+            textString="w"),
+          Line(points={{12,2},{6,-8},{6,-28},{10,-46}}, color={0,0,0}),
+          Line(points={{22,2},{28,-10},{28,-30},{24,-46}}, color={0,0,0}),
+          Text(
+            extent={{30,2},{58,-42}},
+            lineColor={0,0,0},
             textString="+1")}));
   initial equation 
@@ -742 +742 @@
           extent={{-100,-100},{100,100}},
           grid={2,2}), graphics={
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Text(
-            extent={{-68,24},{-24,-18}}, 
-            lineColor={0,0,0}, 
-            textString="k"), 
-          Text(
-            extent={{-32,48},{60,0}}, 
-            lineColor={0,0,0}, 
-            textString="T s + 1"), 
-          Text(
-            extent={{-30,-8},{52,-40}}, 
-            lineColor={0,0,0}, 
-            textString="T s"), 
-          Line(points={{-24,0},{54,0}}, color={0,0,0}), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Text(
+            extent={{-68,24},{-24,-18}},
+            lineColor={0,0,0},
+            textString="k"),
+          Text(
+            extent={{-32,48},{60,0}},
+            lineColor={0,0,0},
+            textString="T s + 1"),
+          Text(
+            extent={{-30,-8},{52,-40}},
+            lineColor={0,0,0},
+            textString="T s"),
+          Line(points={{-24,0},{54,0}}, color={0,0,0}),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
           Line(points={{62,0},{100,0}}, color={0,0,255})}));
   initial equation 
@@ -1351 +1351 @@
     parameter Real d = bb[1]/a[1];
     parameter Real a_end = if a[end] > 100*Modelica.Constants.eps*Modelica.Math.Vectors.norm(a) then a[end] else 1.0;
+    Real x_scaled[size(x,1)] "Scaled vector x";
     annotation (
       Window(
@@ -1418 +1419 @@
   initial equation 
     if initType == Init.SteadyState then
-      der(x) = zeros(nx);
+      der(x_scaled) = zeros(nx);
     elseif initType == Init.InitialState then
-      x = x_start;
+      x_scaled = x_start*a_end;
     elseif initType == Init.InitialOutput then
       y = y_start;
-      der(x[2:nx]) = zeros(nx-1);
+      der(x_scaled[2:nx]) = zeros(nx-1);
     end if;
   equation 
@@ -1430 +1431 @@
        y = d*u;
     else
-       der(x[1])    = (-a[2:na]*x + a_end*u)/a[1];
-       der(x[2:nx]) = x[1:nx-1];
-       y = ((bb[2:na] - d*a[2:na])*x)/a_end + d*u;
+       der(x_scaled[1])    = (-a[2:na]*x_scaled + a_end*u)/a[1];
+       der(x_scaled[2:nx]) = x_scaled[1:nx-1];
+       y = ((bb[2:na] - d*a[2:na])*x_scaled)/a_end + d*u;
+       x = x_scaled/a_end;
     end if;
   end TransferFunction;
@@ -1528 +1530 @@
           extent={{-100,-100},{100,100}},
           grid={2,2}), graphics={
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Text(
-            extent={{-60,40},{60,0}}, 
-            lineColor={0,0,0}, 
-            textString="sx=Ax+Bu"), 
-          Text(
-            extent={{-60,0},{60,-40}}, 
-            lineColor={0,0,0}, 
-            textString=" y=Cx+Du"), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Text(
+            extent={{-60,40},{60,0}},
+            lineColor={0,0,0},
+            textString="sx=Ax+Bu"),
+          Text(
+            extent={{-60,0},{60,-40}},
+            lineColor={0,0,0},
+            textString=" y=Cx+Du"),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
           Line(points={{60,0},{100,0}}, color={0,0,255})}));
   protected 
@@ -1646 +1648 @@
       Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},{
               100,100}}), graphics={
-          Line(points={{40,0},{-40,0}}, color={0,0,0}), 
-          Text(
-            extent={{-55,55},{55,5}}, 
-            lineColor={0,0,0}, 
-            textString="1"), 
-          Text(
-            extent={{-55,-5},{55,-55}}, 
-            lineColor={0,0,0}, 
-            textString="a(s)"), 
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
+          Line(points={{40,0},{-40,0}}, color={0,0,0}),
+          Text(
+            extent={{-55,55},{55,5}},
+            lineColor={0,0,0},
+            textString="1"),
+          Text(
+            extent={{-55,-5},{55,-55}},
+            lineColor={0,0,0},
+            textString="a(s)"),
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
           Line(points={{60,0},{100,0}}, color={0,0,255})}),
       Documentation(info="<html>
@@ -1802 +1804 @@
       Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},{
               100,100}}), graphics={
-          Line(points={{40,0},{-40,0}}, color={0,0,0}), 
-          Text(
-            extent={{-55,55},{55,5}}, 
-            lineColor={0,0,0}, 
-            textString="1"), 
-          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}), 
-          Line(points={{-100,0},{-60,0}}, color={0,0,255}), 
-          Line(points={{60,0},{100,0}}, color={0,0,255}), 
-          Text(
-            extent={{-54,-6},{44,-56}}, 
-            lineColor={0,0,0}, 
-            textString="(T s + 1)"), 
-          Text(
-            extent={{38,-10},{58,-30}}, 
-            lineColor={0,0,0}, 
+          Line(points={{40,0},{-40,0}}, color={0,0,0}),
+          Text(
+            extent={{-55,55},{55,5}},
+            lineColor={0,0,0},
+            textString="1"),
+          Rectangle(extent={{-60,60},{60,-60}}, lineColor={0,0,255}),
+          Line(points={{-100,0},{-60,0}}, color={0,0,255}),
+          Line(points={{60,0},{100,0}}, color={0,0,255}),
+          Text(
+            extent={{-54,-6},{44,-56}},
+            lineColor={0,0,0},
+            textString="(T s + 1)"),
+          Text(
+            extent={{38,-10},{58,-30}},
+            lineColor={0,0,0},
             textString="n")}),
       Documentation(info="<html>

trunk/Modelica/Mechanics/MultiBody/Sensors.mo

@@ -789 +789 @@
                                annotation (Placement(transformation(extent={{84,
               -16},{116,16}}, rotation=0)));
-    Blocks.Interfaces.RealOutput r_rel[3] 
-      "Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame_a or frame_b"
-      annotation (Placement(transformation(
-          origin={-80,-110},
-          extent={{10,-10},{-10,10}},
-          rotation=90)));
+    
+    Interfaces.Frame_resolve frame_resolve 
+      "If resolveInFrame = ResolveInFrame2.frame_resolve, the output signals are resolved in this frame"
+                                                                                                         annotation (Placement(transformation(
+            extent={{84,64},{116,96}}), iconTransformation(extent={{84,64},{116,
+              96}})));
     
     parameter Boolean animation=true 
       "= true, if animation shall be enabled (show arrow)";
-    parameter Boolean resolveInFrame_a=true 
-      "= true, if relative vectors from frame_a to frame_b are resolved before differentiation in frame_a, otherwise in frame_b";
+    parameter Modelica.Mechanics.MultiBody.Types.ResolveInFrame2 resolveInFrame
+      =
+      Modelica.Mechanics.MultiBody.Types.ResolveInFrame2.frame_a 
+      "Frame in which relative vectors from frame_a to frame_b are resolved before differentiation";
+    parameter Boolean get_r_rel=false 
+      "= true, to measure the relative position vector from the origin of frame_a to frame_b";
+    parameter Boolean get_v_rel=false 
+      "= true, to measure the relative velocity of the origin of frame_b with respect to frame_a";
+    parameter Boolean get_a_rel=false 
+      "= true, to measure the relative acceleration of the origin of frame_b with respect to frame_a";
+    parameter Boolean get_angles=false 
+      "= true, to measure the 3 rotation angles to rotate frame_a into frame_b along the axes defined in 'sequence' below";
+    parameter Boolean get_w_rel=false 
+      "= true, to measure the relative angular velocity of frame_b with respect to frame_a";
+    parameter Boolean get_z_rel=false 
+      "= true, to measure the relative angular acceleration of frame_b with respect to frame_a";
+    parameter Types.RotationSequence sequence(
+      min={1,1,1},
+      max={3,3,3}) = {1,2,3} 
+      "Angles are returned to rotate frame_a around axes sequence[1], sequence[2] and finally sequence[3] into frame_b"
+      annotation (Evaluate=true, Dialog(group="if get_angles = true", enable=get_angles));
+    parameter SI.Angle guessAngle1=0 
+      "Select angles[1] such that abs(angles[1] - guessAngle1) is a minimum" 
+      annotation (Dialog(group="if get_angles = true", enable=get_angles));
+    
     input SI.Diameter arrowDiameter=world.defaultArrowDiameter 
       " Diameter of relative arrow from frame_a to frame_b" 
@@ -810 +833 @@
       annotation (Dialog(tab="Animation", group="if animation = true", enable=animation));
     
+    Blocks.Interfaces.RealOutput r_rel[3] if get_r_rel 
+      "Relative position vector frame_b.r_0 - frame_a.r_0 resolved in frame_a or frame_b"
+      annotation (Placement(transformation(
+          origin={-100,-110},
+          extent={{10,-10},{-10,10}},
+          rotation=90)));
+    Blocks.Interfaces.RealOutput v_rel[3] if get_v_rel 
+      "Relative velocity vector (= der(r_rel))" 
+      annotation (Placement(transformation(
+          origin={-60,-110},
+          extent={{10,-10},{-10,10}},
+          rotation=90)));
+    Blocks.Interfaces.RealOutput a_rel[3] if get_a_rel 
+      "Relative acceleration vector (= der(v_rel))" 
+      annotation (Placement(transformation(
+          origin={-20,-110},
+          extent={{10,-10},{-10,10}},
+          rotation=90)));
+    Blocks.Interfaces.RealOutput angles[3] if get_angles 
+      "Angles to rotate frame_a into frame_b via 'sequence'" 
+      annotation (Placement(transformation(
+          origin={20,-110},
+          extent={{10,-10},{-10,10}},
+          rotation=90)));
+    Blocks.Interfaces.RealOutput w_rel[3] if get_w_rel 
+      "Relative angular velocity vector" 
+      annotation (Placement(transformation(
+          origin={60,-110},
+          extent={{10,-10},{-10,10}},
+          rotation=90)));
+    Blocks.Interfaces.RealOutput z_rel[3] if get_z_rel 
+      "Relative angular acceleration vector (= der(w_rel))" 
+      annotation (Placement(transformation(
+          origin={100,-110},
+          extent={{10,-10},{-10,10}},
+          rotation=90)));
+    
+    annotation (Diagram(coordinateSystem(preserveAspectRatio=true,  extent={{-100,
+              -100},{100,100}},
+          grid={1,1}),  graphics),
+                         Icon(coordinateSystem(preserveAspectRatio=true,
+            extent={{-100,-100},{100,100}},
+          grid={1,1}), graphics={
+          Line(
+            points={{-70,0},{-95,0}}, 
+            color={0,0,0}, 
+            smooth=Smooth.None), 
+          Line(
+            points={{96,0},{70,0}}, 
+            color={0,0,0}, 
+            smooth=Smooth.None), 
+          Text(
+            extent={{-127,-77},{-92,-93}}, 
+            lineColor={0,0,0}, 
+            textString="r"), 
+          Text(
+            extent={{-112,44},{-76,19}}, 
+            lineColor={128,128,128}, 
+            textString="a"), 
+          Text(
+            extent={{72,44},{108,19}}, 
+            lineColor={128,128,128}, 
+            textString="b"), 
+          Text(
+            extent={{-132,90},{129,138}}, 
+            textString="%name", 
+            lineColor={0,0,255}), 
+          Line(
+            points={{-60,-36},{-60,-100}}, 
+            color={0,0,127}, 
+            smooth=Smooth.None), 
+          Line(
+            points={{20,-67},{20,-100}}, 
+            color={0,0,127}, 
+            smooth=Smooth.None), 
+          Text(
+            extent={{-90,-77},{-55,-93}}, 
+            lineColor={0,0,0}, 
+            textString="v"), 
+          Text(
+            extent={{-58,-77},{-23,-93}}, 
+            lineColor={0,0,0}, 
+            textString="a"), 
+          Line(
+            points={{-84,0},{-84,-60},{-100,-60},{-100,-100}}, 
+            color={0,0,127}, 
+            smooth=Smooth.None), 
+          Line(
+            points={{-20,-67},{-20,-100}}, 
+            color={0,0,127}, 
+            smooth=Smooth.None), 
+          Line(
+            points={{60,-36},{60,-100}}, 
+            color={0,0,127}, 
+            smooth=Smooth.None), 
+          Line(
+            points={{86,0},{86,-60},{100,-60},{100,-100}}, 
+            color={0,0,127}, 
+            smooth=Smooth.None), 
+          Text(
+            extent={{96,-76},{136,-93}}, 
+            lineColor={0,0,0}, 
+            textString="z"), 
+          Text(
+            extent={{55,-76},{100,-92}}, 
+            lineColor={0,0,0}, 
+            textString="w"), 
+          Line(
+            points={{95,80},{50,80},{50,49}}, 
+            color={0,0,0}, 
+            pattern=LinePattern.Dot, 
+            smooth=Smooth.None)}));
+    
   protected 
+    Internal.RelativePosition relativePosition if get_r_rel or get_v_rel or get_a_rel 
+      annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
+    Blocks.Continuous.Der der1[3] if get_v_rel or get_a_rel annotation (Placement(transformation(
+          extent={{-10,-10},{10,10}},
+          rotation=-90,
+          origin={-60,-40})));
+    Blocks.Continuous.Der der2[3] if get_a_rel annotation (Placement(transformation(
+          extent={{-10,-10},{10,10}},
+          rotation=-90,
+          origin={-20,-80})));
+    Internal.RelativeAngles relativeAngles if get_angles 
+      annotation (Placement(transformation(extent={{10,-25},{30,-5}})));
+    Internal.RelativeAngularVelocity relativeAngularVelocity if get_w_rel or get_z_rel 
+      annotation (Placement(transformation(extent={{50,-47},{70,-27}})));
+    Blocks.Continuous.Der der3[3] if get_z_rel annotation (Placement(transformation(
+          extent={{-10,-10},{10,10}},
+          rotation=-90,
+          origin={100,-70})));
+    Internal.ZeroForceAndTorque zeroForce1 
+      annotation (Placement(transformation(extent={{-80,40},{-60,60}})));
+    Internal.ZeroForceAndTorque zeroForce2 
+      annotation (Placement(transformation(extent={{80,20},{60,40}})));
+    Internal.ZeroPosition zeroPosition if not (resolveInFrame ==
+      Modelica.Mechanics.MultiBody.Types.ResolveInFrame2.frame_resolve) 
+      annotation (Placement(transformation(extent={{-30,3},{-10,23}})));
+    
     outer Modelica.Mechanics.MultiBody.World world;
     
@@ -819 +981 @@
       color=arrowColor,
       specularCoefficient) if world.enableAnimation and animation;
-    
-    encapsulated model RelativePosition "Determine relative position" 
-      import Modelica;
-      import Modelica.Mechanics.MultiBody.Frames;
-      extends Modelica.Blocks.Interfaces.BlockIcon;
-      
-      Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a 
-        "Coordinate system a"                                                       annotation (Placement(
-            transformation(extent={{-116,-16},{-84,16}}, rotation=0)));
-      Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b 
-        "Coordinate system b"                                                       annotation (Placement(
-            transformation(extent={{84,-16},{116,16}}, rotation=0)));
-      Modelica.Blocks.Interfaces.RealOutput r_rel[3] 
-        "Relative position vector, frame_b.r_0 - frame_a.r_0, resolved in frame_a or frame_b depending on parameter resolveInFrame_a)"
-        annotation (Placement(transformation(
-            origin={0,-110},
-            extent={{-10,-10},{10,10}},
-            rotation=270)));
-      parameter Boolean resolveInFrame_a=true 
-        "= true, if relative vectors from frame_a to frame_b are resolved before differentiation in frame_a, otherwise in frame_b";
-      
-    equation 
-       frame_a.f = zeros(3);
-       frame_a.t = zeros(3);
-       frame_b.f = zeros(3);
-       frame_b.t = zeros(3);
-       if resolveInFrame_a then
-          r_rel = Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);
-       else
-          r_rel = Frames.resolve2(frame_b.R, frame_b.r_0 - frame_a.r_0);
-       end if;
-      
-      annotation (Icon(coordinateSystem(preserveAspectRatio=false, extent={{
-                -100,-100},{100,100}}), graphics={Text(
-              extent={{-78,-60},{78,-82}}, 
-              lineColor={0,0,0}, 
-              textString="r_rel")}));
-    end RelativePosition;
-    
-  protected 
-    RelativePosition relativePosition annotation (Placement(transformation(
-            extent={{-70,-10},{-50,10}}, rotation=0)));
-    annotation (Diagram(coordinateSystem(preserveAspectRatio=false, extent={{
-              -100,-100},{100,100}}),
-                        graphics),
-                         Icon(coordinateSystem(preserveAspectRatio=true,
-            extent={{-100,-100},{100,100}}), graphics={
-          Line(
-            points={{-70,0},{-96,0}}, 
-            color={0,0,0}, 
-            smooth=Smooth.None), 
-          Line(
-            points={{96,0},{70,0}}, 
-            color={0,0,0}, 
-            smooth=Smooth.None), 
-          Line(
-            points={{-80,0},{-80,-100}}, 
-            color={0,0,127}, 
-            smooth=Smooth.None), 
-          Text(
-&nbs