// Small example which shows how to do coordinate transformations 
// Transform a local vector in the global coordinate system
// Transform a global  vector into a local coordinate system

Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
    };  // Global reference frame
    
      
    AnySeg Bar ={
      Mass=0;
      Jii={0,0,0};
      AnyRefNode node1 ={sRel={-0.5,0,0};};
      AnyRefNode node2 ={sRel={0.5,0,0};};    
      AnyDrawSeg drw={};
    };
    
    AnyRevoluteJoint rev={  
      AnyFixedRefFrame &ref1=.GlobalRef;
      AnyRefNode &ref2=.Bar.node1;
      Axis=z;
    };
    
    AnyKinEqSimpleDriver drv={
      AnyRevoluteJoint &ref=.rev;
      DriverPos={0};
      DriverVel={2*pi};
    };
   
    AnyFolder FromGlobalToLocal={
      AnyVec3 v={10,0,0};  //global vector
      //Calculate the vector in the ref frame of the moving seg
      //Take a look at the graph  Main.MyStudy.Output.Model.FromGlobalToLocal.res1 
      //notice that at x starts with 10 and y with 0, as the segment rotates these numbers changes accordingly 
      //when the segment is rotated 90 deg x is 0 and y is -10, this is because the vector is global and is measured
      //in the local cooridnate system of the segment
      AnyVec3 res1=v*.Bar.Axes;
    };
    
    AnyFolder FromLocalToGlobal={
      AnyVec3 v={10,0,0};  //local vector
      //Calculate the local vector of the seg in the ref frame of global system
      //Take a look at the graph  Main.MyStudy.Output.Model.FromLocalToGlobal.res1 
      //notice that at x starts with 10 and y with 0, as the segment rotates these numbers changes accordingly 
      //when the segment is rotated 90 deg x is 0 and y is 10 this is because now the vector rotates with the segment
      //and is measured in the global ref
      AnyVec3 res1=v*.Bar.Axes';
    };

  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
  };
  
};  // Main