LIBRARY

ArrowShape

Arrow shape primitive for 3D rendering.

Renders a vector arrow (shaft cylinder + arrowhead cone). Used for visualizing forces, torques, and other vector quantities. The arrow direction and length come from the length_direction and length variables of the parent Shape.

This component extends from Shape

Usage

MultibodyComponents.ArrowShape(render=true, color=[0.5, 0.5, 0.5, 1.0], specular_coefficient=0.7, head_at_origin=true, diameter=0.05, head_length=0.1, head_diameter=0.1)

Parameters:

Name	Description	Units	Default value
render	Whether this shape should be rendered	–	true
color	RGBA color of the shape	–	[0.5, 0.5, 0.5, 1]
specular_coefficient	Specular reflection coefficient (0 = fully diffuse)	–	0.7
head_at_origin		–	true
diameter		–	0.05
head_length		–	0.1
head_diameter		–	0.1

Variables

Name	Description	Units
r	3D position of the shape origin in world frame	–
R	3D rotation matrix (orientation) of the shape in world frame	–
r_shape	Offset from r to shape origin, resolved in shape frame	–
length_direction	Primary axis direction (unit vector, resolved in shape frame)	–
width_direction	Secondary axis direction (unit vector, resolved in shape frame)	–
length	Dimension along length_direction	–
width	Dimension along width_direction	–
height	Dimension perpendicular to both length and width	–

Behavior

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Source

"""
Arrow shape primitive for 3D rendering.

Renders a vector arrow (shaft cylinder + arrowhead cone). Used for visualizing
forces, torques, and other vector quantities. The arrow direction and length
come from the `length_direction` and `length` variables of the parent Shape.
"""
component ArrowShape
  extends Shape
  # Whether the arrowhead points at the origin (true for forces) or away
  parameter head_at_origin::Boolean = true
  # Diameter of the arrow shaft
  parameter diameter::Real = 0.05
  # Length of the arrowhead cone
  parameter head_length::Real = 0.1
  # Diameter of the arrowhead cone base
  parameter head_diameter::Real = 0.1
relations
end

Flattened Source

"""
Arrow shape primitive for 3D rendering.

Renders a vector arrow (shaft cylinder + arrowhead cone). Used for visualizing
forces, torques, and other vector quantities. The arrow direction and length
come from the `length_direction` and `length` variables of the parent Shape.
"""
component ArrowShape
  "Whether this shape should be rendered"
  parameter render::Boolean = true
  "3D position of the shape origin in world frame"
  variable r::Real[3]
  "3D rotation matrix (orientation) of the shape in world frame"
  variable R::Real[3, 3]
  "Offset from r to shape origin, resolved in shape frame"
  variable r_shape::Real[3]
  "Primary axis direction (unit vector, resolved in shape frame)"
  variable length_direction::Real[3]
  "Secondary axis direction (unit vector, resolved in shape frame)"
  variable width_direction::Real[3]
  "Dimension along length_direction"
  variable length::Real
  "Dimension along width_direction"
  variable width::Real
  "Dimension perpendicular to both length and width"
  variable height::Real
  "RGBA color of the shape"
  parameter color::Real[4] = [0.5, 0.5, 0.5, 1.0]
  "Specular reflection coefficient (0 = fully diffuse)"
  parameter specular_coefficient::Real = 0.7
  # Whether the arrowhead points at the origin (true for forces) or away
  parameter head_at_origin::Boolean = true
  # Diameter of the arrow shaft
  parameter diameter::Real = 0.05
  # Length of the arrowhead cone
  parameter head_length::Real = 0.1
  # Diameter of the arrowhead cone base
  parameter head_diameter::Real = 0.1
relations
metadata {}
end

Test Cases

No test cases defined.

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