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Revolved Solid

Solid revolved element with geometry, inertia, and color

  • Library:
  • Simscape / Multibody / Body Elements

  • Revolved Solid block

Description

The Revolved Solid block is a rotational sweep of a general cross section with geometry center coincident with the [0 0] coordinate on the cross-sectional XZ plane and revolution axis coincident with the reference frame z axis.

The Revolved Solid block adds to the attached frame a solid element with geometry, inertia, and color. The solid element can be a simple rigid body or part of a compound rigid body—a group of rigidly connected solids, often separated in space through rigid transformations. Combine Revolved Solid and other solid blocks with the Rigid Transform blocks to model a compound rigid body.

Geometry parameters include shape and size. You can choose from a list of preset shapes or import a custom shape from an external file in STL or STEP format. By default, for all but STL-derived shapes, the block automatically computes the mass properties of the solid from the specified geometry and either mass or mass density. You can change this setting in the Inertia > Type block parameter.

A reference frame encodes the position and orientation of the solid. In the default configuration, the block provides only the reference frame. A frame-creation interface provides the means to define additional frames based on solid geometry features. You access this interface by selecting the Create button in the Frames expandable area.

Derived Properties

You can view the calculated values of the solid mass properties directly in the block dialog box. Setting the Inertia > Type parameter to Calculate from Geometry causes the block to expose a new node, Derived Values. Click the Update button provided under this node to calculate the mass properties and display their values in the fields below the button.

Derived Values Display

Visualization Pane

The block dialog box contains a collapsible visualization pane. This pane provides instant visual feedback on the solid you are modeling. Use it to find and fix any issues with the shape and color of the solid. You can examine the solid from different perspectives by selecting a standard view or by rotating, panning, and zooming the solid.

Select the Update Visualization button to view the latest changes to the solid geometry in the visualization pane. Select Apply or OK to commit your changes to the solid. Closing the block dialog box without first selecting Apply or OK causes the block to discard those changes.

Revolved Solid Visualization Pane

Right-click the visualization pane to access the visualization context-sensitive menu. This menu provides additional options so that you can change the background color, split the visualization pane into multiple tiles, and modify the view convention from the default +Z up (XY Top) setting.

Ports

Frame

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Local reference frame of the solid. This frame is fixed with respect to the solid geometry. Connect this port to a frame entity—port, line, or junction—to resolve the placement of the reference frame in a model. For more information, see Working with Frames.

Parameters

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Geometry

Cross-sectional shape specified as an [x,z] coordinate matrix, with each row corresponding to a point on the cross-sectional profile. The coordinates specified must define a closed loop with no self-intersecting segments.

The coordinates must be arranged such that from one point to the next the solid region always lies to the left. The block revolves the cross-sectional shape specified about the reference frame z axis to obtain the revolved solid.

Type of revolution sweep to use. Use the default setting of Full to revolve the cross-sectional shape by the maximum 360 degrees. Select Custom to revolve the cross-sectional shape by a lesser angle.

Angle of the rotational sweep associated with the revolution.

Select Convex Hull to generate a convex hull representation of the true geometry. This convex hull can be used for contacts by connecting the Spatial Contact Force block.

Dependencies

To enable this option, select Convex Hull under the Export.

Inertia

Inertia parameterization to use. Select Point Mass to model a concentrated mass with negligible rotational inertia. Select Custom to model a distributed mass with the specified moments and products of inertia. The default setting, Calculate from Geometry, enables the block to automatically calculate the rotational inertia properties from the solid geometry and specified mass or mass density.

Parameter to use in inertia calculation. The block obtains the inertia tensor from the solid geometry and the parameter selected. Use Density if the material properties are known. Use Mass if the total solid mass if known.

Mass per unit volume of material. The mass density can take on a positive or negative value. Specify a negative mass density to model the effects of a void or cavity in a solid body.

Total mass to attribute to the solid element. This parameter can be positive or negative. Use a negative value to capture the effect of a void or cavity in a compound body (one comprising multiple solids and inertias), being careful to ensure that the mass of the body is on the whole positive.

[x y z] coordinates of the center of mass relative to the block reference frame. The center of mass coincides with the center of gravity in uniform gravitational fields only.

Three-element vector with the [Ixx Iyy Izz] moments of inertia specified relative to a frame with origin at the center of mass and axes parallel to the block reference frame. The moments of inertia are the diagonal elements of the inertia tensor

(IxxIyyIzz),

where:

  • Ixx=V(y2+z2)dm

  • Iyy=V(x2+z2)dm

  • Izz=V(x2+y2)dm

Three-element vector with the [Iyz Izx Ixy] products of inertia specified relative to a frame with origin at the center of mass and axes parallel to the block reference frame. The products of inertia are the off-diagonal elements of the inertia tensor

(IxyIzxIxyIyzIzxIyz),

where:

  • Iyz=Vyzdm

  • Izx=Vzxdm

  • Ixy=Vxydm

Display of the calculated values of the solid mass properties—mass, center of mass, moments of inertia, and products of inertia. Click the Update button to calculate and display the mass properties of the solid. Click this button following any changes to the block parameters to ensure that the displayed values are still current.

The center of mass is resolved in the local reference frame of the solid. The moments and products of inertia are each resolved in the inertia frame of resolution—a frame whose axes are parallel to those of the reference frame but whose origin coincides with the solid center of mass.

Dependencies

The option to calculate and display the mass properties is active when the Inertia > Type block parameter is set to Calculate from Geometry.

Graphic

Choice of graphic to use in the visualization of the solid. The graphic is by default the geometry specified for the solid. Select Marker to show instead a simple graphic marker, such as a sphere or cube. Change this parameter to None to eliminate this solid altogether from the model visualization.

Shape of the marker by means of which to visualize the solid. The motion of the marker reflects the motion of the solid itself.

Width of the marker in pixels. This width does not scale with zoom level. Note that the apparent size of the marker depends partly on screen resolution, with higher resolutions packing more pixels per unit length, and therefore producing smaller icons.

Parameterization for specifying visual properties. Select Simple to specify color and opacity. Select Advanced to add specular highlights, ambient shadows, and self-illumination effects.

Dependencies

To enable this parameter, set Type to From Geometry or Marker.

RGB color vector with red (R), green (G), and blue (B) color amounts specified on a 0–1 scale. A color picker provides an alternative interactive means of specifying a color. If you change the Visual Properties setting to Advanced, the color specified in this parameter becomes the Diffuse Color vector.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Simple.

Graphic opacity specified on a scale of 0–1. An opacity of 0 corresponds to a completely transparent graphic and an opacity of 1 to a completely opaque graphic.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Simple.

True color under direct white light specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. An optional fourth element specifies the color opacity also on a scale of 0–1. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Advanced.

Color of specular highlights specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. The optional fourth element specifies the color opacity. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Advanced.

Color of shadow areas in diffuse ambient light, specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. The optional fourth element specifies the color opacity. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Advanced.

Surface color due to self illumination, specified as an [R,G,B] or [R,G,B,A] vector on a 0–1 scale. The optional fourth element specifies the color opacity. Omitting the opacity element is equivalent to specifying a value of 1.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Advanced.

Sharpness of specular light reflections, specified as a scalar number on a 0–128 scale. Increase the shininess value for smaller but sharper highlights. Decrease the value for larger but smoother highlights.

Dependencies

To enable this parameter, set :

  1. Type to Marker.

  2. Visual Properties to Advanced.

Frames

Select to expose the R port.

Click the Create button Create to open a pane for creating a new body-attached frame. In this pane, you can specify the name, origin, and orientation for the frame.

  • To name the custom frame, click the text field of the Frame Name parameter. The name identifies the corresponding port on the solid block and in the tree view pane of the Mechanics Explorer.

  • To select the Frame Origin of the custom frame, use one of the following methods:

    • At Reference Frame Origin: Make the new frame origin coincident with the origin of the reference frame of the solid.

    • At Center of Mass: Make the new frame origin coincident with the center of mass of the solid.

    • Based on Geometric Feature: Make the new frame origin coincident with the center of the selected feature. Valid features include surfaces, lines, and points. Select a feature from the visualization pane, then click Use Selected Feature to confirm the location of the origin. The name of the origin location appears in the field below this option.

  • To define the orientation of the custom frame, under the Frame Axes section, select the Primary Axis and Secondary Axis of the custom frame and then specify their directions.

    Use the following methods to select a vector for specifying the directions of the primary and secondary axes. The primary axis is parallel to the selected vector and constrains the remaining two axes to its normal plane. The secondary axis is parallel to the projection of the selected vector onto the normal plane.

    • Along Reference Frame Axis: Selects an axis of the reference frame of the solid.

    • Along Principal Inertia Axis: Selects an axis of the principal inertia axis of the solid.

    • Based on Geometric Feature: Selects the vector associated with the chosen geometry feature of the solid. Valid features include surfaces and lines. The corresponding vector is indicated by a white arrow in the visualization pane. You can select a feature from the visualization pane and then click Use Selected Feature to confirm the selection. The name of the selected feature appears in the field below this option.

Frames that you have created. N is a unique identifying number for each custom frame.

  • Click the text field to edit the name of an existing custom frame.

  • Click the Edit button Edit to edit other aspects of the custom frame, such as origin and axes.

  • Click the Delete button Delete to delete the custom frame.

Dependencies

To enable this parameter, create a frame by clicking New Frame.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2019b