📄 doublewishbone.mdl
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SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
PhysicalDomain "Mechanical"
PortType "blob"
Muxed "off"
Pose "on"
Angle "on"
AngleUnits "deg"
ArcVelocity "off"
ArcVelocityUnits "deg/s"
ArcAcceleration "off"
ArcAccelerationUnits "deg/s^2"
CoordPosition "on"
CoordPositionUnits "in"
Velocity "off"
VelocityUnits "m/s"
Acceleration "off"
AccelerationUnits "m/s^2"
Quaternion "on"
QuaternionDT "off"
QuaternionDDT "off"
QuaternionUnits "off"
OutputVector "[ 3 9 ]"
ActiveIO "on"
Width "12"
ClassName "BodySensor"
DialogClass "MechanicalSensorBlock"
ReferenceFrame "Absolute (World)"
}
Block {
BlockType BusCreator
Name "Bus\nCreator"
Ports [4, 1]
Position [420, 76, 435, 234]
ShowName off
DisplayOption "bar"
}
Block {
BlockType Constant
Name "Constant"
Position [279, 25, 321, 55]
Orientation "down"
NamePlacement "alternate"
Value "[8 0 0]"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
}
Block {
BlockType Constant
Name "Constant1"
Position [364, 25, 406, 55]
Orientation "down"
NamePlacement "alternate"
Value "[0 0 -1 (pi/2)]"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
Port {
PortNumber 1
Name "Rotation"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Reference
Name "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
Tag "Pose2VR"
Ports [1, 1]
Position [170, 116, 310, 154]
SourceBlock "mblibv1/Utilities/Convert from Ro"
"tation Matrix to\nVirtual Reality Toolbox"
SourceType "RotationMatrix2VR"
Port {
PortNumber 1
Name "Rotation"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Constant
Name "Height"
Position [270, 195, 300, 225]
Value "5"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
Port {
PortNumber 1
Name "Height"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Constant
Name "Radius"
Position [270, 260, 300, 290]
Value "14"
VectorParams1D on
SamplingMode "Sample based"
OutDataTypeMode "Inherit from 'Constant value'"
OutDataType "sfix(16)"
ConRadixGroup "Use specified scaling"
OutScaling "2^0"
SampleTime "inf"
FramePeriod "inf"
Port {
PortNumber 1
Name "Radius"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Sum
Name "Sum"
Ports [2, 1]
Position [290, 85, 310, 105]
ShowName off
IconShape "round"
Inputs "++|"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "Translation"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Terminator
Name "Terminator2"
Position [355, 125, 375, 145]
ShowName off
}
Block {
BlockType PMIOPort
Name "CG"
Position [25, 88, 55, 102]
Port "1"
Side "Left"
}
Block {
BlockType Outport
Name "VR"
Position [465, 148, 495, 162]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
LineType "Connection"
SrcBlock "CG"
SrcPort RConn1
DstBlock "Body Sensor"
DstPort LConn1
}
Line {
Name "Height"
Labels [0, 0]
SrcBlock "Height"
SrcPort 1
Points [45, 0; 0, -35]
DstBlock "Bus\nCreator"
DstPort 3
}
Line {
Name "Radius"
Labels [0, 0]
SrcBlock "Radius"
SrcPort 1
Points [100, 0]
DstBlock "Bus\nCreator"
DstPort 4
}
Line {
SrcBlock "Bus\nCreator"
SrcPort 1
DstBlock "VR"
DstPort 1
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Body Sensor"
SrcPort 1
Points [0, 10]
DstBlock "Sum"
DstPort 2
}
Line {
Name "Translation"
Labels [0, 0]
SrcBlock "Sum"
SrcPort 1
DstBlock "Bus\nCreator"
DstPort 1
}
Line {
SrcBlock "Body Sensor"
SrcPort 2
Points [10, 0; 0, 30]
DstBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
DstPort 1
}
Line {
Name "Rotation"
Labels [0, 0]
SrcBlock "Constant1"
SrcPort 1
Points [0, 75]
DstBlock "Bus\nCreator"
DstPort 2
}
Line {
Name "Rotation"
Labels [1, 0]
SrcBlock "Convert from Rotation Matrix to\n"
"Virtual Reality Toolbox"
SrcPort 1
DstBlock "Terminator2"
DstPort 1
}
}
}
Block {
BlockType PMIOPort
Name "Adj Sph"
Position [25, 63, 55, 77]
Port "1"
Side "Left"
}
Block {
BlockType PMIOPort
Name "Dis Sph"
Position [400, 53, 430, 67]
Orientation "left"
Port "2"
Side "Right"
}
Block {
BlockType PMIOPort
Name "Tire"
Position [335, 103, 365, 117]
Orientation "left"
Port "3"
Side "Left"
}
Block {
BlockType PMIOPort
Name "Instr"
Position [335, 138, 365, 152]
Orientation "left"
Port "4"
Side "Right"
}
Block {
BlockType Outport
Name "VR 3"
Position [270, 178, 300, 192]
IconDisplay "Port number"
BusOutputAsStruct off
}
Block {
BlockType Outport
Name "VR 6"
Position [270, 243, 300, 257]
Port "2"
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
LineType "Connection"
SrcBlock "Instr"
SrcPort RConn1
Points [-35, 0; 0, -10]
DstBlock "Body"
DstPort RConn3
}
Line {
LineType "Connection"
SrcBlock "Tire"
SrcPort RConn1
Points [-35, 0; 0, -10]
DstBlock "Body"
DstPort RConn2
}
Line {
LineType "Connection"
SrcBlock "Body"
SrcPort LConn3
Points [-10, 0; 0, 50]
DstBlock "Subsystem"
DstPort LConn1
}
Line {
SrcBlock "Subsystem"
SrcPort 1
DstBlock "VR 3"
DstPort 1
}
Line {
LineType "Connection"
SrcBlock "Spherical"
SrcPort RConn1
DstBlock "Body"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Adj Sph"
SrcPort RConn1
DstBlock "Spherical"
DstPort LConn1
}
Line {
LineType "Connection"
SrcBlock "Dis Sph"
SrcPort RConn1
Points [0, 0]
DstBlock "Disassembled Spherical"
DstPort RConn1
}
Line {
LineType "Connection"
SrcBlock "Body"
SrcPort RConn1
Points [0, -5]
DstBlock "Disassembled Spherical"
DstPort LConn1
}
Line {
SrcBlock "Subsystem1"
SrcPort 1
DstBlock "VR 6"
DstPort 1
}
Line {
LineType "Connection"
SrcBlock "Subsystem1"
SrcPort LConn1
Points [-30, 0; 0, -135; 15, 0; 0, -15]
DstBlock "Body"
DstPort LConn2
}
}
}
Block {
BlockType Terminator
Name "Terminator5"
Position [625, 115, 645, 135]
}
Block {
BlockType SubSystem
Name "Upper Arm"
Ports [0, 2, 0, 0, 0, 2, 1]
Position [85, 29, 195, 91]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Upper Arm"
Location [103, 157, 447, 420]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins "[0.500000, 0.500000, 0.500000, 0.5000"
"00]"
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
Block {
BlockType Reference
Name "Spherical"
Ports [0, 0, 0, 0, 0, 1, 1]
Position [80, 25, 130, 75]
DialogController "MECH.DynMechDlgSource"
SourceBlock "mblibv1/Joints/Spherical"
SourceType "msb"
PhysicalDomain "mechanical"
SubClassName "Unknown"
LeftPortType "blob"
RightPortType "blob"
LConnTagsString "__newl0"
RConnTagsString "__newr0"
NumSAPorts "0"
CutJoint "off"
MarkAsCut "off"
Primitives "spherical"
PrimitiveProps "S$INERTIAL$[0 0 0]$spherical"
ClassName "Joint"
DialogClass "JointBlock"
SAxis "[0 0 0]"
}
Block {
BlockType SubSystem
Name "Subsystem"
Ports [0, 1, 0, 0, 0, 2, 1]
Position [175, 40, 255, 80]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
MaskPromptString "Radius (in)|Height (in)|Material De"
"nsity (lbm/in^3)|R⌨️ 快捷键说明
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