From 749cd75db3fa82efae88857ddc5031351b50d711 Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Tue, 14 Jul 2020 15:30:50 +0200 Subject: [PATCH] fixup! Add physics model --- .../SCARA/02_physics/scara_physics.emx | 1609 ++++++++++++++++- 1 file changed, 1541 insertions(+), 68 deletions(-) diff --git a/implementation/SCARA/02_physics/scara_physics.emx b/implementation/SCARA/02_physics/scara_physics.emx index 4d6960c..dbaef40 100644 --- a/implementation/SCARA/02_physics/scara_physics.emx +++ b/implementation/SCARA/02_physics/scara_physics.emx @@ -8,7 +8,7 @@ 0 False C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx - 2020-7-14 13:32:16 + 2020-7-14 15:30:34 parameters @@ -18,65 +18,94 @@ variables real J0_1_BF1[2]; real J1_2_BF1[2]; real J1_2_BF2[2]; -initialequations + real EE1_BF2[2]; +initialequations + J0_1_BF1 = [A/2;0]; + J1_2_BF1 = [-A/2;0]; + J1_2_BF2 = [B/2;0]; + EE1_BF2 = [-B/2;0]; '; type Mainmodel end; implementation bg submodels - Integrate 280 248 + Constant 80 96 + description '4.01False + Signal\Sources\Constant.emx + 2007-10-19 14:48:44 +'; + type Constant + ports + signal out output; + end; + icon bg bottom + figures + rectangle 64.1 80 95.9 112 color 0 fill 15132390; + line 68.9 91.6 90.9 91.6 color 16711680 width 2; + line 66.2 102.7 91.9 102.7 color 0; + line 68.5 86.7 68.5 105 color 0; + end; + implementation eq +parameters + real C = 1.0; // output value +equations + output = C; + implementation_end; + I 312 112 description ' - 4.3 + 4.2 1 False - Signal\Block Diagram\Integrate.emx - 2013-3-8 14:47:42 + Bond Graph\I.emx + 2011-11-29 15:55:55 '; - type Integrate + type I ports - signal in input; - signal out output; + power in p; + signal out state; + signal in i; + restrictions + causality preferred in p; end; icon bg bottom figures - rectangle 264 232 296 264 color 0 fill 15132390; - text '∫' 280 248.3 color 16711680 'Lucida Sans' 21 italic; + text 'I' 312 112 color 0 18 bold; end; implementation eq -parameters - real initial = 0; // initial value equations - output = int (input, initial); - implementation_end; - Integrate1 680 248 + state = int(p.e); + p.f = state / i; +implementation_end; + I1 704 112 description ' - 4.3 + 4.2 1 False - Signal\Block Diagram\Integrate.emx - 2013-3-8 14:47:42 + Bond Graph\I.emx + 2011-11-29 15:55:55 '; - type Integrate + type I ports - signal in input; - signal out output; + power in p; + signal out state; + signal in i; + restrictions + causality preferred in p; end; icon bg bottom figures - rectangle 664 232 696 264 color 0 fill 15132390; - text '∫' 680 248.3 color 16711680 'Lucida Sans' 21 italic; + text 'I' 704 112 color 0 18 bold; end; implementation eq -parameters - real initial = 0; // initial value equations - output = int (input, initial); - implementation_end; + state = int(p.e); + p.f = state / i; +implementation_end; MSe 504 96 description ' @@ -105,7 +134,7 @@ equations p.e = effort; flow = p.f; implementation_end; - MSe1 72 168 + MSe1 168 168 description ' 4.2 @@ -124,7 +153,7 @@ implementation_end; end; icon bg bottom figures - text 'MSe' 72 168 color 0 18 bold; + text 'MSe' 168 168 color 0 18 bold; end; implementation eq variables @@ -449,7 +478,7 @@ implementation_end; equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; - RTF 304 368 + RTF 304 392 description ' 4.8 @@ -469,7 +498,7 @@ equations end; icon bg bottom figures - text 'RTF' 304 368 color 0 18 bold; + text 'RTF' 304 392 color 0 18 bold; end; implementation eq /* @@ -543,7 +572,7 @@ implementation_end; */ variables real r[2,2]; -equations +equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; @@ -614,7 +643,31 @@ equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; - Splitter1 280 336 + Sf 72 456 + description '4.01False + Bond Graph\2D\Sf-2.emx + 2007-9-25 12:7:5 +'; + type 'Sf-2' + ports + power out p [2,1]; + restrictions + causality fixed in p; + end; + icon bg bottom + figures + text 'Sf' 72 456 color 0 18 bold; + end; + implementation eq +parameters + real flow[2,1] = [0.0; 0.0]; +variables + real effort [2]; +equations + p.f = flow; + effort = p.e; +implementation_end; + Splitter1 264 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 @@ -628,10 +681,10 @@ implementation_end; end; icon bg ellipse figures - ellipse 276.8 332.8 283.2 339.2 color -1 fill 0; - ellipse 275.7 331.7 284.3 340.3 color -1; + ellipse 260.8 332.8 267.2 339.2 color -1 fill 0; + ellipse 259.7 331.7 268.3 340.3 color -1; terminals - input 280 336 fixed; + input 264 336 fixed; end; implementation eq equations @@ -660,6 +713,386 @@ implementation_end; equations collect (output) = input; implementation_end; + Splitter3 168 96 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [1]; + signal knot in input [1]; + end; + icon bg ellipse + figures + ellipse 164.8 92.8 171.2 99.2 color -1 fill 0; + ellipse 163.7 91.7 172.3 100.3 color -1; + terminals + input 168 96 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + Submodel1 304 528 + description '4.81parameters + real mass = 1 {kg};'; + type Submodel + ports + power in p [2,1]; + signal in mass {kg} ; + end; + implementation bg + submodels + Gain 368 408 + description '4.01False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 +'; + type Gain + ports + signal in input; + signal out output [2,1]; + end; + icon bg bottom + figures + rectangle 352.1 392 383.9 424 color 0 fill 15132390; + text 'K' 368 408 color 16711680 16 bold; + end; + implementation eq +equations + output = [0;-g_n] * input; + implementation_end; + I 248 520 + description '4.01False + Bond Graph\2D\I-2.emx + 2007-9-25 12:7:37 +'; + type 'I-2' + ports + power in p [2,1]; + signal out state [2,1]; + signal in mass {kg} ; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 248 520 color 0 18 bold; + end; + implementation eq +equations + state = int(p.e); + p.f = inverse ([mass,0;0,mass]) * state; +implementation_end; + plug p 304 468; + plug mass 208 408; + OneJunction2 304 520 + description '4.01False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 304 520 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + Sg 368 520 + description '4.01False + Bond Graph\2D\MSe-2.emx + 2007-9-25 12:7:58 +'; + type 'MSe-2' + ports + power out p [2,1]; + signal in effort [2,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'MSe' 368 520 color 0 18 bold; + end; + implementation eq +variables + real flow[2]; +equations + p.e = effort; + flow = p.f; +implementation_end; + Splitter1 248 408 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [1]; + signal knot in input [1]; + end; + icon bg ellipse + figures + ellipse 244.8 404.8 251.2 411.2 color -1 fill 0; + ellipse 243.7 403.7 252.3 412.3 color -1; + terminals + input 248 408 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + end; + connections + Gain\output -> Sg\effort; + I\p <= OneJunction2\p; + mass -> Splitter1\input; + p => OneJunction2\p; + Sg\p => OneJunction2\p; + Splitter1\output -> Gain\input; + Splitter1\output -> I\mass; + end; + implementation_end; + Submodel2 704 528 + description '4.81parameters + real mass = 1 {kg};'; + type Submodel + ports + power in p [2,1]; + signal in mass {kg} ; + end; + icon bg + figures + rectangle 664 512 744 544 fill 15132390; + text 'name' 704 528 16; + end; + implementation bg + submodels + Gain 368 408 + description '4.01False + Signal\Block Diagram\Gain.emx + 2007-9-26 12:15:12 +'; + type Gain + ports + signal in input; + signal out output [2,1]; + end; + icon bg bottom + figures + rectangle 352.1 392 383.9 424 color 0 fill 15132390; + text 'K' 368 408 color 16711680 16 bold; + end; + implementation eq +equations + output = [0;-g_n] * input; + implementation_end; + I 248 520 + description '4.01False + Bond Graph\2D\I-2.emx + 2007-9-25 12:7:37 +'; + type 'I-2' + ports + power in p [2,1]; + signal out state [2,1]; + signal in mass {kg} ; + restrictions + causality preferred in p; + end; + icon bg bottom + figures + text 'I' 248 520 color 0 18 bold; + end; + implementation eq +equations + state = int(p.e); + p.f = inverse ([mass,0;0,mass]) * state; +implementation_end; + plug p 304 468; + plug mass 208 408; + OneJunction2 304 520 + description '4.01False + Bond Graph\OneJunction.emx + 2007-9-27 9:51:18 +'; + knot OneJunction + ports + power knot duplicatable none p [2,1]; + signal knot out flow [2,1]; + restrictions + causality constraint one_out p; + end; + icon bg + figures + text '1' 304 520 color 0 18 bold; + end; + implementation eq +equations + sum (direct (p.e)) = 0; + equal (collect (p.f)); + flow = first (p.f); +implementation_end; + Sg 368 520 + description '4.01False + Bond Graph\2D\MSe-2.emx + 2007-9-25 12:7:58 +'; + type 'MSe-2' + ports + power out p [2,1]; + signal in effort [2,1]; + restrictions + causality fixed out p; + end; + icon bg bottom + figures + text 'MSe' 368 520 color 0 18 bold; + end; + implementation eq +variables + real flow[2]; +equations + p.e = effort; + flow = p.f; +implementation_end; + Splitter1 248 408 + description '4.0 + Signal\Block Diagram\Splitter.emx + 2008-01-17 11:28:29 +1 + False +'; + knot Splitter + ports + signal knot duplicatable out output [1]; + signal knot in input [1]; + end; + icon bg ellipse + figures + ellipse 244.8 404.8 251.2 411.2 color -1 fill 0; + ellipse 243.7 403.7 252.3 412.3 color -1; + terminals + input 248 408 fixed; + end; + implementation eq +equations + collect (output) = input; +implementation_end; + end; + connections + Gain\output -> Sg\effort; + I\p <= OneJunction2\p; + mass -> Splitter1\input; + p => OneJunction2\p; + Sg\p => OneJunction2\p; + Splitter1\output -> Gain\input; + Splitter1\output -> I\mass; + end; + implementation_end; + Submodel3 224 416 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in angle_velocity {rad/s} ; + signal out angle {rad} ; + signal in velocity [2,1] {m/s} ; + signal out position [2,1] {m} ; + signal out mass {kg} ; + signal out angular_momentum {N.m.s} ; + end; + implementation eq +/* Equation Submodel +Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ). +*/ +parameters + real density = 1 {kg/m3}; + real dimension[3] = [1;1;1] {m}; + real initial_position[2] = [0;0] {m}; + real initial_angle = 0 {rad}; +variables + real body_angle[3]; + real body_position[3]; + real body_size[3]; + real moment[3]; +initialequations + mass = dimension[1] * dimension[2] * dimension[3] * density; + moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2); + moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2); + moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2); + angular_momentum = moment[1]; +equations + angle = int(angle_velocity,initial_angle); + body_angle = [angle;0;0]; + position = int(velocity,initial_position); + body_position = [0; position[1];position[2]]; + + implementation_end; + Submodel4 624 416 + description '4.0 + Template\Submodel-Equation.emx +1 + False + 2007-11-1 22:32:1 + False +'; + type 'Submodel-Equation' + ports + signal in angle_velocity {rad/s} ; + signal out angle {rad} ; + signal in velocity [2,1] {m/s} ; + signal out position [2,1] {m} ; + signal out mass {kg} ; + signal out angular_momentum {N.m.s} ; + end; + implementation eq +/* Equation Submodel +Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ). +*/ +parameters + real density = 1 {kg/m3}; + real dimension[3] = [1;1;1] {m}; + real initial_position[2] = [0;0] {m}; + real initial_angle = 0.01 {rad}; +variables + real body_angle[3]; + real body_position[3]; + real body_size[3]; + real moment[3]; +initialequations + mass = dimension[1] * dimension[2] * dimension[3] * density; + moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2); + moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2); + moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2); + angular_momentum = moment[1]; +equations + angle = int(angle_velocity,initial_angle); + body_angle = [angle;0;0]; + position = int(velocity,initial_position); + body_position = [0; position[1];position[2]]; + + implementation_end; TF 384 224 description ' @@ -667,8 +1100,9 @@ implementation_end; 1 False Bond Graph\2D\XTF-2.emx - 2020-7-14 13:20:33 - + 2020-7-14 15:06:10 +True + '; type 'TF-2' ports @@ -676,6 +1110,8 @@ implementation_end; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; + causality fixed in p2; + causality fixed out p1; end; icon bg bottom figures @@ -693,15 +1129,16 @@ equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; - TF1 232.3 224 + TF2 784 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx - 2020-7-14 13:20:33 - + 2020-7-14 15:06:10 +True + '; type 'TF-2' ports @@ -709,10 +1146,12 @@ implementation_end; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; + causality fixed in p2; + causality fixed out p1; end; icon bg bottom figures - text 'XTF' 232.3 224 color 0 18 bold; + text 'XTF' 784 224 color 0 18 bold; end; implementation eq parameters @@ -726,15 +1165,16 @@ equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; - TF2 784 224 + TF3 632.3 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx - 2020-7-14 13:20:33 - + 2020-7-14 15:06:10 +True + '; type 'TF-2' ports @@ -742,10 +1182,12 @@ implementation_end; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; + causality fixed in p2; + causality fixed out p1; end; icon bg bottom figures - text 'XTF' 784 224 color 0 18 bold; + text 'XTF' 632.3 224 color 0 18 bold; end; implementation eq parameters @@ -759,15 +1201,16 @@ equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; - TF3 632.3 224 + XTF 232.3 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx - 2020-7-14 13:20:33 - + 2020-7-14 15:06:10 +True + '; type 'TF-2' ports @@ -775,10 +1218,12 @@ implementation_end; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; + causality fixed in p2; + causality fixed out p1; end; icon bg bottom figures - text 'XTF' 632.3 224 color 0 18 bold; + text 'XTF' 232.3 224 color 0 18 bold; end; implementation eq parameters @@ -929,23 +1374,28 @@ equations implementation_end; end; connections - Integrate\output -> Splitter1\input; - Integrate1\output -> Splitter2\input; + Constant\output -> Splitter3\input; + I\p <= OneJunction3\p; + I1\p <= OneJunction10\p; MSe1\p => OneJunction3\p; OneJunction\p => RTF\p1; OneJunction\p => ZeroJunction\p; OneJunction\p => ZeroJunction1\p; - OneJunction10\flow -> Integrate1\input; + OneJunction1\flow -> Submodel3\velocity 224 456; + OneJunction1\p => Submodel1\p; + OneJunction10\flow -> Submodel4\angle_velocity 608 224 608 360; OneJunction10\p => TF2\p1; OneJunction10\p => TF3\p1; - OneJunction3\flow -> Integrate\input; + OneJunction3\flow -> Submodel3\angle_velocity 208 200 208 376; OneJunction3\p => TF\p1; - OneJunction3\p => TF1\p1; + OneJunction3\p => XTF\p1; OneJunction3\p => ZeroJunction4\p; OneJunction5\p => RTF2\p1; OneJunction7\p => RTF3\p1; OneJunction7\p => ZeroJunction2\p; OneJunction7\p => ZeroJunction3\p; + OneJunction8\flow -> Submodel4\velocity 624 456; + OneJunction8\p => Submodel2\p; OneJunction9\p => RTF4\p1; PlusMinus1\output -> RTF1\angle; RTF\p2 => OneJunction1\p; @@ -953,16 +1403,25 @@ implementation_end; RTF2\p2 => OneJunction6\p; RTF3\p2 => OneJunction8\p; RTF4\p2 => OneJunction11\p; + Sf\p => OneJunction6\p; Splitter1\output -> PlusMinus1\plus; - Splitter1\output -> RTF\angle 280 344; + Splitter1\output -> RTF\angle 280 352 280 368; Splitter1\output -> RTF2\angle 176 336; Splitter2\output -> PlusMinus1\minus; Splitter2\output -> RTF3\angle 680 344; Splitter2\output -> RTF4\angle 832 336; + Splitter3\output -> MSe\effort; + Splitter3\output -> MSe1\effort; + Submodel3\angle -> Splitter1\input 248 384 248 352; + Submodel3\angular_momentum -> I\i 200 376 200 200; + Submodel3\mass -> Submodel1\mass 216 440 216 464 296 464 296 504; + Submodel4\angle -> Splitter2\input; + Submodel4\angular_momentum -> I1\i 600 360 600 224; + Submodel4\mass -> Submodel2\mass 616 464 696 488; TF\p2 => ZeroJunction\p; - TF1\p2 => ZeroJunction1\p; TF2\p2 => ZeroJunction2\p; TF3\p2 => ZeroJunction3\p; + XTF\p2 => ZeroJunction1\p; ZeroJunction\p => RTF1\p1; ZeroJunction1\p => OneJunction5\p; ZeroJunction2\p => OneJunction9\p; @@ -986,10 +1445,70 @@ implementation_end; + + + + + TF\x + 0 + + + TF\y + 0 + + + TF2\x + 0 + + + TF2\y + 0 + + + TF3\x + 0 + + + TF3\y + 0 + + + XTF\x + 0 + + + XTF\y + 0 + + + + + I1\state_initial + 0 + + + I\state_initial + 0 + + + Submodel1\I\p.e_initial + 2 + 1 + 0 0 + + + Submodel2\I\p.e_initial + 2 + 1 + 0 0 + + time + Submodel4\position[2] + Submodel4\position[1] @@ -1062,29 +1581,29 @@ implementation_end; false - 0.0 - 10.0 + -1.0 + 1.0 true 3 - + - 0.0 - 10.0 + -0.5000000000000001 + 0.5 true - 2 - + 1 + - 3355111 + 6076255 1 - 3355111 + 6076255 0 true 1 @@ -1093,8 +1612,12 @@ implementation_end; true true - time + Submodel4\position[1] + + true + Submodel4\position[2] + @@ -1103,6 +1626,947 @@ implementation_end; 16777215 + + D3DPlot + + 2 + false + 16777215 + true + + 3D Animation + 137 + true + false + 4294967295 + Gradients\BlueWhite.png + true + 1.0 + 1.0 + + + + + 1 + + + 1 + + + 1 + + + true + Reference Frame + + + + + + Bryant + + false + false + false + false + false + false + + + + + 1 + + + 1 + + + 1 + + + false + Default Lights and Cameras + + + + + + Bryant + + false + false + false + false + false + false + + + false + Ambient + + + + + + 1 + + + + + 1 + + + Direct3D + + false + false + false + false + false + false + + + 0 + + + + 0.3 + + + 0.3 + + + 0.3 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + + 0.3 + + + 0.3 + + + 0.3 + + + + + + + 1 + + + 1 + + + 1 + + + true + + true + false + false + + + false + Parallel + + + -3 + + + 5 + + + 3 + + + + + + 0.457495710997814 + + + -0.762492851663023 + + + -0.457495710997814 + + + + + 0.235379601434674 + + + -0.392299335724456 + + + 0.889211827642101 + + + Direct3D + + false + false + false + false + false + false + + + 3 + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + 1.0 + + + 0.0 + + + 0.0 + + + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + false + true + true + + + false + Spot Light 1 + + + -3 + + + -5 + + + 1 + + + + + + 0.50709255283711 + + + 0.845154254728517 + + + -0.169030850945703 + + + + + 0.0869656553478673 + + + 0.144942758913112 + + + 0.985610760609162 + + + Direct3D + + false + false + false + false + false + false + + + 2 + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + 1.0 + + + 0.05 + + + 0.05 + + + + 1.0471975511965976 + + + 1.0471975511965976 + + 0.0 + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + false + true + true + + + false + Spot Light 2 + + + 2 + + + -3 + + + -1 + + + + + + -0.534522483824849 + + + 0.801783725737273 + + + 0.267261241912424 + + + + + 0.14824986333222 + + + -0.22237479499833 + + + 0.963624111659432 + + + Direct3D + + false + false + false + false + false + false + + + 2 + + + + 1 + + + 1 + + + 1 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + 1.0 + + + 0.05 + + + 0.05 + + + + 1.5707963267948966 + + + 1.5707963267948966 + + 0.0 + + + + 1 + + + 1 + + + 1 + + + + + + + 1 + + + 1 + + + 1 + + + true + + + + + 0.5 + + + 0.5 + + + 0.5 + + + + + + + 1 + + + 1 + + + 1 + + + true + + false + true + true + + + false + Camera Looking at Origin + + + 8.08601856717543 + + + 3.82396406524929 + + + 3.99920023992003 + + + + + + -0.825275814177106 + + + -0.390281698108316 + + + -0.408166665292506 + + + + + -0.368986018117198 + + + -0.174497407115461 + + + 0.912907428682665 + + + Direct3D + + false + false + false + false + false + false + + + 0.01 + 100.0 + true + 0.003926990816987242 + 45.0 + -10.0 + 10.0 + 10.0 + -10.0 + true + + + true + + + 1 + + + true + true + true + + + false + Front(XY)-Camera + + + 10 + + + + + + -1 + + + + + 1 + + + Direct3D + + false + false + false + false + false + false + + + 0.01 + 100.0 + true + 9.999999999999998 + 45.0 + -9.999999999999998 + 9.999999999999998 + 9.999999999999998 + -9.999999999999998 + true + + + true + + + 1 + + + true + false + false + + + false + Side(YZ)-Camera + + + 10 + + + + + + -1 + + + + + 1 + + + Direct3D + + false + false + false + false + false + false + + + 0.01 + 100.0 + true + 9.999999999999998 + 45.0 + -9.999999999999998 + 9.999999999999998 + 9.999999999999998 + -9.999999999999998 + true + + + true + + + 1 + + + true + false + false + + + false + Top(XZ)-Camera + + + 10 + + + + + + -1 + + + + + 1 + + + Direct3D + + false + false + false + false + false + false + + + 0.01 + 100.0 + true + 9.999999999999998 + 45.0 + -9.999999999999998 + 9.999999999999998 + 9.999999999999998 + -9.999999999999998 + true + + + true + + + 1 + + + true + false + false + + + + + + + 1 + + + 1 + + + 1 + + + false + Scenery + + + + + + Bryant + + false + false + false + false + false + false + + +
Center
+ 1.0 + true + 4 + + + 1 + + + 1 + + + 1 + + + true + + + 1 + + + 1 + + + 1 + + + 1.0 + + + 1 + + + 1 + + + 1 + + + + + true + + + 0.498039215686275 + + + 0.498039215686275 + + + 0.498039215686275 + + + + + + 14.298713684082 + + false + false + Block + + + + + + Bryant + + false + false + false + false + false + false + + + + + + + + + @@ -1112,10 +2576,16 @@ implementation_end; 0 1 + 2 Base + + +0.126562 0.0935185 0.819792 0.916667 + + @@ -1260,6 +2730,9 @@ implementation_end; + + 1.0 +