modelica · sjoelund · Dec 8, 2021 · Dec 9, 2021 · Dec 9, 2021 · Dec 10, 2021
diff --git a/Modelica/Mechanics/MultiBody/Visualizers/Advanced/Shape.mo b/Modelica/Mechanics/MultiBody/Visualizers/Advanced/Shape.mo
@@ -3,7 +3,7 @@ model Shape
   "Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)"
 
   extends ModelicaServices.Animation.Shape;
-  extends Modelica.Utilities.Internal.PartialModelicaServices.Animation.PartialShape;
+  extends ModelicaServices.AnimationInterface.PartialShape;
 
     annotation (
      Icon(coordinateSystem(

diff --git a/Modelica/Mechanics/MultiBody/Visualizers/Advanced/Surface.mo b/Modelica/Mechanics/MultiBody/Visualizers/Advanced/Surface.mo
@@ -2,7 +2,7 @@ within Modelica.Mechanics.MultiBody.Visualizers.Advanced;
 model Surface
   "Visualizing a moveable, parameterized surface; the surface characteristic is provided by a function"
   extends Modelica.Mechanics.MultiBody.Icons.Surface;
-  extends Modelica.Utilities.Internal.PartialModelicaServices.Animation.PartialSurface;
+  extends ModelicaServices.AnimationInterface.PartialSurface;
   extends ModelicaServices.Animation.Surface;
   annotation (Icon(graphics={Polygon(
           points={{-102,40},{-98,92},{28,-8},{96,146},{104,-118},{-18,-34},{-52,

diff --git a/Modelica/Mechanics/MultiBody/Visualizers/Advanced/Vector.mo b/Modelica/Mechanics/MultiBody/Visualizers/Advanced/Vector.mo
@@ -2,7 +2,7 @@ within Modelica.Mechanics.MultiBody.Visualizers.Advanced;
 model Vector "Visualizing a vector quantity (force, torque, etc.)"
 
   extends ModelicaServices.Animation.Vector;
-  extends Modelica.Utilities.Internal.PartialModelicaServices.Animation.PartialVector;
+  extends ModelicaServices.AnimationInterface.PartialVector;
 
   annotation (
     Documentation(info="<html>

diff --git a/Modelica/Utilities/Files.mo b/Modelica/Utilities/Files.mo
@@ -692,8 +692,6 @@ end temporaryFileName;
 
   function loadResource
     "Return the absolute path name of a URI or local file name"
-     extends
-      Modelica.Utilities.Internal.PartialModelicaServices.ExternalReferences.PartialLoadResource;
      extends ModelicaServices.ExternalReferences.loadResource;
     annotation (
       Documentation(info=

diff --git a/Modelica/Utilities/Internal.mo b/Modelica/Utilities/Internal.mo
@@ -3,157 +3,6 @@ package Internal
   "Internal components that a user should usually not directly utilize"
   extends Modelica.Icons.InternalPackage;
   import Modelica.Units.SI;
-package PartialModelicaServices
-    "Interfaces of components requiring a tool specific implementation"
-    extends Modelica.Icons.InternalPackage;
-  package Animation "Models and functions for 3-dim. animation"
-    extends Modelica.Icons.Package;
-  partial model PartialShape "Interface for 3D animation of elementary shapes"
-
-    import Modelica.Mechanics.MultiBody.Frames;
-    import Modelica.Mechanics.MultiBody.Types;
-
-    parameter Types.ShapeType shapeType="box"
-      "Type of shape (box, sphere, cylinder, pipecylinder, cone, pipe, beam, gearwheel, spring, <external shape>)";
-    input Frames.Orientation R=Frames.nullRotation()
-      "Orientation object to rotate the world frame into the object frame" annotation(Dialog);
-    input SI.Position r[3]={0,0,0}
-      "Position vector from origin of world frame to origin of object frame, resolved in world frame" annotation(Dialog);
-    input SI.Position r_shape[3]={0,0,0}
-      "Position vector from origin of object frame to shape origin, resolved in object frame" annotation(Dialog);
-    input Real lengthDirection[3](each final unit="1")={1,0,0}
-      "Vector in length direction, resolved in object frame" annotation(Dialog);
-    input Real widthDirection[3](each final unit="1")={0,1,0}
-      "Vector in width direction, resolved in object frame" annotation(Dialog);
-    input SI.Length length=0 "Length of visual object" annotation(Dialog);
-    input SI.Length width=0 "Width of visual object" annotation(Dialog);
-    input SI.Length height=0 "Height of visual object" annotation(Dialog);
-    input Types.ShapeExtra extra=0.0
-      "Additional size data for some of the shape types" annotation(Dialog);
-    input Real color[3]={255,0,0} "Color of shape" annotation(Dialog(colorSelector=true));
-    input Types.SpecularCoefficient specularCoefficient = 0.7
-      "Reflection of ambient light (= 0: light is completely absorbed)" annotation(Dialog);
-
-    annotation (
-      Documentation(info="<html>
-<p>
-This model is documented at
-<a href=\"modelica://Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape\">Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape</a>.
-</p>
-</html>"));
-
-  end PartialShape;
-
-    partial model PartialVector "Interface for 3D animation of a vector quantity (force, torque etc)"
-      import Modelica.Mechanics.MultiBody.Types;
-      import Modelica.Mechanics.MultiBody.Frames;
-
-      input Frames.Orientation R=Frames.nullRotation()
-        "Orientation object to rotate the world frame into the vector frame" annotation(Dialog);
-      input SI.Position r[3]={0,0,0}
-        "Position vector from origin of world frame to origin of vector frame, resolved in world frame" annotation(Dialog);
-      input Real coordinates[3]={0,0,0}
-        "Coordinates of the vector resolved in vector frame" annotation(Dialog);
-      input Types.Color color=Types.Defaults.ArrowColor
-        "Color of vector" annotation(Dialog(colorSelector=true));
-      input Types.SpecularCoefficient specularCoefficient = 0.7
-        "Material property describing the reflecting of ambient light (= 0 means, that light is completely absorbed)" annotation(Dialog);
-      parameter Types.VectorQuantity quantity = Types.VectorQuantity.Force "Quantity of the coordinates";
-      input Boolean headAtOrigin=false "= true, if the vector is pointing towards the origin of vector frame" annotation(Dialog);
-      input Boolean twoHeadedArrow=false "= true, if the arrow has two heads after each other (pointing in the same direction)" annotation(Dialog);
-
-      annotation (
-        Documentation(info="<html>
-<p>
-This model is documented at
-<a href=\"modelica://Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector\">Modelica.Mechanics.MultiBody.Visualizers.Advanced.Vector</a>.
-</p>
-</html>"));
-    end PartialVector;
-
-    partial model PartialSurface "Interface for 3D animation of surfaces"
-
-      import Modelica.Mechanics.MultiBody.Frames;
-      import Modelica.Mechanics.MultiBody.Types;
-
-      input Frames.Orientation R=Frames.nullRotation()
-        "Orientation object to rotate the world frame into the surface frame"
-        annotation(Dialog(group="Surface frame"));
-      input SI.Position r_0[3]={0,0,0}
-        "Position vector from origin of world frame to origin of surface frame, resolved in world frame"
-        annotation(Dialog(group="Surface frame"));
-
-      parameter Integer nu=2 "Number of points in u-Dimension" annotation(Dialog(group="Surface properties"));
-      parameter Integer nv=2 "Number of points in v-Dimension" annotation(Dialog(group="Surface properties"));
-      replaceable function surfaceCharacteristic =
-        Modelica.Mechanics.MultiBody.Interfaces.partialSurfaceCharacteristic
-        "Function defining the surface characteristic"
-        annotation(choicesAllMatching=true,Dialog(group="Surface properties"));
-
-      parameter Boolean wireframe=false "= true: 3D model will be displayed without faces"
-        annotation (Dialog(group="Material properties"),choices(checkBox=true));
-      parameter Boolean multiColoredSurface=false "= true: Color is defined for each surface point"
-        annotation(Dialog(group="Material properties"),choices(checkBox=true));
-      input Real color[3]={255,0,0} "Color of surface" annotation(Dialog(colorSelector=true,group="Material properties", enable=not multiColoredSurface));
-      input Types.SpecularCoefficient specularCoefficient = 0.7
-        "Reflection of ambient light (= 0: light is completely absorbed)"
-        annotation(Dialog(group="Material properties"));
-      input Real transparency=0 "Transparency of shape: 0 (= opaque) ... 1 (= fully transparent)"
-        annotation(Dialog(group="Material properties"));
-
-      annotation (Documentation(info="<html>
-<p>
-This model is documented at
-<a href=\"modelica://Modelica.Mechanics.MultiBody.Visualizers.Advanced.Surface\">Modelica.Mechanics.MultiBody.Visualizers.Advanced.Surface</a>.
-</p>
-</html>"));
-    end PartialSurface;
-  end Animation;
-
-  package ExternalReferences "Functions to access external resources"
-    extends Modelica.Icons.InternalPackage;
-    partial function PartialLoadResource
-        "Interface for tool specific function to return the absolute path name of a URI or local file name"
-      extends Modelica.Icons.Function;
-      input String uri "URI or local file name";
-      output String fileReference "Absolute path name of file";
-      annotation (Documentation(info="<html>
-<p>
-This partial function defines the function interface of a tool-specific implementation
-in package ModelicaServices. The interface is documented at
-<a href=\"modelica://Modelica.Utilities.Files.loadResource\">Modelica.Utilities.Internal.FileSystem.loadResource</a>.
-</p>
-
-</html>"));
-    end PartialLoadResource;
-  end ExternalReferences;
-
-  package System "System dependent functions"
-    extends Modelica.Icons.InternalPackage;
-    partial function exitBase "Interface for tool specific function to terminate the execution of the Modelica environment"
-      extends Modelica.Icons.Function;
-      input Integer status=0 "Result to be returned by environment (0 means success)";
-      annotation (Documentation(info="<html>
-<p>
-This partial function defines the function interface of a tool-specific implementation
-in package ModelicaServices.
-</p>
-</html>"));
-    end exitBase;
-  end System;
-    annotation (Documentation(info="<html>
-
-<p>
-This package contains interfaces of a set of functions and models used in the
-Modelica Standard Library that requires a <strong>tool specific implementation</strong>.
-There is an associated package called <strong>ModelicaServices</strong>. A tool vendor
-should provide a proper implementation of this library for the corresponding
-tool. The default implementation is \"do nothing\".
-In the Modelica Standard Library, the models and functions of ModelicaServices
-are used.
-</p>
-</html>"));
-end PartialModelicaServices;
 
 package FileSystem
     "Internal package with external functions as interface to the file system"

diff --git a/ModelicaServices/AnimationInterface/Frames/Orientation.mo b/ModelicaServices/AnimationInterface/Frames/Orientation.mo
@@ -0,0 +1,8 @@
+within ModelicaServices.AnimationInterface.Frames;
+record Orientation
+  "Orientation object defining rotation from a frame 1 into a frame 2"
+  extends Icons.Record;
+  Real T[3, 3] "Transformation matrix from world frame to local frame";
+  Types.AngularVelocity w[3]
+    "Absolute angular velocity of local frame, resolved in local frame";
+end Orientation;
diff --git a/ModelicaServices/AnimationInterface/Frames/nullRotation.mo b/ModelicaServices/AnimationInterface/Frames/nullRotation.mo
@@ -0,0 +1,9 @@
+within ModelicaServices.AnimationInterface.Frames;
+function nullRotation
+  "Return orientation object that does not rotate a frame"
+  extends Icons.Function;
+  output Orientation R
+    "Orientation object such that frame 1 and frame 2 are identical";
+algorithm
+  R := Orientation(T=identity(3),w= zeros(3));
+end nullRotation;
diff --git a/ModelicaServices/AnimationInterface/Frames/package.mo b/ModelicaServices/AnimationInterface/Frames/package.mo
@@ -0,0 +1,4 @@
+within ModelicaServices.AnimationInterface;
+
+package Frames
+end Frames;
diff --git a/ModelicaServices/AnimationInterface/Interfaces/package.mo b/ModelicaServices/AnimationInterface/Interfaces/package.mo
@@ -0,0 +1,3 @@
+within ModelicaServices.AnimationInterface;
+package Interfaces
+end Interfaces;
diff --git a/ModelicaServices/AnimationInterface/Interfaces/partialSurfaceCharacteristic.mo b/ModelicaServices/AnimationInterface/Interfaces/partialSurfaceCharacteristic.mo
@@ -0,0 +1,18 @@
+within ModelicaServices.AnimationInterface.Interfaces;
+
+partial function partialSurfaceCharacteristic "Interface for a function returning surface characteristics"
+  extends Modelica.Icons.Function;
+   input Integer nu "Number of points in u-Dimension";
+   input Integer nv "Number of points in v-Dimension";
+   input Boolean multiColoredSurface=false
+    "= true: Color is defined for each surface point";
+   output Types.Position X[nu,nv]
+    "[nu,nv] positions of points in x-Direction resolved in surface frame";
+   output Types.Position Y[nu,nv]
+    "[nu,nv] positions of points in y-Direction resolved in surface frame";
+   output Types.Position Z[nu,nv]
+    "[nu,nv] positions of points in z-Direction resolved in surface frame";
+   output Real C[if multiColoredSurface then nu else 0,
+                 if multiColoredSurface then nv else 0,3]
+    "[nu,nv,3] Color array, defining the color for each surface point";
+end partialSurfaceCharacteristic;
diff --git a/ModelicaServices/AnimationInterface/Types/Color.mo b/ModelicaServices/AnimationInterface/Types/Color.mo
@@ -0,0 +1,30 @@
+within ModelicaServices.AnimationInterface.Types;
+
+type Color = Integer[3] (each min=0, each max=255)
+  "RGB representation of color"
+  annotation (
+    Dialog(colorSelector=true),
+    choices(
+      choice={0,0,0} "{0,0,0}       \"black\"",
+      choice={155,0,0} "{155,0,0}     \"dark red\"",
+      choice={255,0,0} "{255,0,0 }    \"red\"",
+      choice={255,65,65} "{255,65,65}   \"light red\"",
+      choice={0,128,0} "{0,128,0}     \"dark green\"",
+      choice={0,180,0} "{0,180,0}     \"green\"",
+      choice={0,230,0} "{0,230,0}     \"light green\"",
+      choice={0,0,200} "{0,0,200}     \"dark blue\"",
+      choice={0,0,255} "{0,0,255}     \"blue\"",
+      choice={0,128,255} "{0,128,255}   \"light blue\"",
+      choice={255,255,0} "{255,255,0}   \"yellow\"",
+      choice={255,0,255} "{255,0,255}   \"pink\"",
+      choice={100,100,100} "{100,100,100} \"dark grey\"",
+      choice={155,155,155} "{155,155,155} \"grey\"",
+      choice={255,255,255} "{255,255,255} \"white\""),
+  Documentation(info="<html>
+<p>
+Type <strong>Color</strong> is an Integer vector with 3 elements,
+{r, g, b}, and specifies the color of a shape.
+{r, g, b} are the \"red\", \"green\" and \"blue\" color parts.
+Note, r, g and b are given in the range 0&nbsp;&hellip;&nbsp;255.
+</p>
+</html>"));
diff --git a/ModelicaServices/AnimationInterface/Types/ShapeExtra.mo b/ModelicaServices/AnimationInterface/Types/ShapeExtra.mo
@@ -0,0 +1,51 @@
+within ModelicaServices.AnimationInterface.Types;
+type ShapeExtra = Real
+  "Type of the additional data that can be defined for an elementary ShapeType"
+     annotation (
+  Documentation(info="<html>
+<p>
+This type is used in shapes of visual objects to define
+extra data depending on the shape type. Usually, input
+variable <strong>extra</strong> is used as instance name:
+</p>
+
+<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
+<tr><th><strong>shapeType</strong></th><th>Meaning of parameter <strong>extra</strong></th></tr>
+<tr>
+  <td>\"cylinder\"</td>
+  <td>if extra&nbsp;&gt;&nbsp;0, a black line is included in the
+      cylinder to show the rotation of it.</td>
+</tr>
+<tr>
+  <td>\"cone\"</td>
+  <td>extra = diameter-left-side / diameter-right-side, i.e.,<br>
+      extra = 1: cylinder<br>
+      extra = 0: \"real\" cone.</td>
+</tr>
+<tr>
+  <td>\"pipe\"</td>
+  <td>extra = outer-diameter / inner-diameter, i.e,<br>
+      extra = 1: cylinder that is completely hollow<br>
+      extra = 0: cylinder without a hole.</td>
+</tr>
+<tr>
+  <td>\"gearwheel\"</td>
+  <td>extra is the number of teeth of the (external) gear.
+If extra&nbsp;&lt;&nbsp;0, an internal gear is visualized with |extra| teeth.
+The axis of the gearwheel is along \"lengthDirection\", and usually:
+width = height = 2*radiusOfGearWheel.</td>
+</tr>
+<tr>
+  <td>\"spring\"</td>
+  <td>extra is the number of windings of the spring.
+      Additionally, \"height\" is <strong>not</strong> the \"height\" but
+      2*coil-width.</td>
+</tr>
+<tr>
+  <td>external shape</td>
+  <td>extra = 0: Visualization from file is not scaled.<br>
+                     extra = 1: Visualization from file is scaled with \"length\", \"width\" and \"height\"
+                                of the shape</td>
+</tr>
+</table>
+</html>"));
diff --git a/ModelicaServices/AnimationInterface/Types/ShapeType.mo b/ModelicaServices/AnimationInterface/Types/ShapeType.mo
@@ -0,0 +1,63 @@
+within ModelicaServices.AnimationInterface.Types;
+type ShapeType = String
+  "Type of shape (box, sphere, cylinder, pipecylinder, cone, pipe, beam, gearwheel, spring, <external shape>)"
+   annotation ( choices(
+    choice="box" "\"box\"",
+    choice="sphere" "\"sphere\"",
+    choice="cylinder" "\"cylinder\"",
+    choice="pipecylinder" "\"pipecylinder\"",
+    choice="cone" "\"cone\"",
+    choice="pipe" "\"pipe\"",
+    choice="beam" "\"beam\"",
+    choice="gearwheel" "\"gearwheel\"",
+    choice="spring" "\"spring\"",
+    choice="modelica://PackageName/PathName.dxf"),
+  Documentation(info="<html>
+<p>
+Type <strong>ShapeType</strong> is used to define the shape of the
+visual object as parameter String. Usually, \"shapeType\" is used
+as instance name. The following
+values for shapeType are possible, e.g., shapeType=\"box\":
+</p>
+
+<div>
+<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Visualizers/Shape.png\" alt=\"model Visualizers.FixedShape\">
+</div>
+
+<p>
+The dark blue arrows in the figure above are directed along
+variable <strong>lengthDirection</strong>. The light blue arrows are directed
+along variable <strong>widthDirection</strong>. The <strong>coordinate systems</strong>
+in the figure represent frame_a of the Shape component.
+</p>
+
+<p>
+Additionally, external shapes can be specified as (not all options might be supported by all tools):
+</p>
+
+<ul>
+<li> <strong>\"1\", \"2\",&nbsp;&hellip;</strong><br>
+     define external shapes specified in DXF format in files \"1.dxf\", \"2.dxf\",&nbsp;&hellip;
+     The DXF-files must be found either in the current directory or in the directory where
+     the Shape instance is stored that references the DXF file.
+     This (very limited) option should not be used for new models. Example:<br>
+    shapeType=\"1\".<br></li>
+
+<li> \"<strong>modelica:</strong>//&lt;Modelica-name&gt;/&lt;relative-path-file-name&gt;\"<br>
+     characterizes the file that is stored under the location of the
+     &lt;Modelica-name&gt; library path with the given relative file name.
+     Example:<br> shapeType = \"modelica://Modelica/Resources/Data/Shapes/Engine/piston.dxf\".<br></li>
+
+<li> \"<strong>file:</strong>///&lt;absolute-file-name&gt;\"<br>
+     characterizes an absolute file name in the file system. Example:<br>
+     shapeType=\"file:///C:/users/myname/shapes/piston.dxf\".</li>
+</ul>
+
+<p>
+The supported file formats are tool dependent. Most tools support
+at least DXF-files (a tool might support 3-dim. Face of the DXF format only),
+but may support other format as well (such as stl, obj, 3ds).
+Since visualization files contain color and other data, the corresponding
+information in the model is usually ignored.
+</p>
+</html>"));