//Small model made to display how to draw trajectories from nodes
//The trajectory is created by making use of the AnyChart object.

Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {   };  // Global reference frame
    
    
    //Segment 
    AnySeg Segment={
      Mass=0;
      Jii={0,0,0};
      AnyDrawSeg drw={};
      AnyRefNode Node1={sRel={0,0,0};};
      AnyRefNode Node2={sRel={1,0,0};};
      
    };
    //cylindrical joint 
    AnyCylindricalJoint CylJoint ={
      AnyFixedRefFrame &ref1=.GlobalRef;
      AnyRefNode &ref2=.Segment.Node1;
      Axis=z;
      
    }; 
    
    //driver for the joint 
    AnyKinEqSimpleDriver Driver ={
      AnyCylindricalJoint &ref=.CylJoint;
      DriverPos={0,0};
      DriverVel={5,10*pi};
    };
    
    
    //This section creates an AnyChart which will do a drawing of a tracectory form a specified node
    AnyFixedRefFrame Chart1Ref ={
      
      Origin = -0.5*Chart1.Style.Sizes;  //origin of the chart
      AnyChart Chart1 = 
      {
        //This line defines the max size of the entire trajectory here it is a box of 100x100x100
        Style.Sizes = 100*{1,1,1};    
        
        Series = {
          
          AnyChartSerie Trajectory =  {
            Lines.RGB = {0,0,1};  //color of the line 
            Lines.Thickness = 3.0;  //line thickness
            Abscissa = "Main.MyStudy.Output.Model.Segment.Node2.r[0]";  //reference to the x coordinate
            Abscissa2 = "Main.MyStudy.Output.Model.Segment.Node2.r[1]";//reference to the y coordinate
            Value = "Main.MyStudy.Output.Model.Segment.Node2.r[2]";  //reference to the z coordinate
          };
          
          //additional trajectories could be added here !!!
        };
        
        AbsAxis = {
          Visible = Off;   //make axis invisible 
          Min = -0.5*.Style.Sizes[0];  //set the min value of the axis 
          Max = -Min;  //set the max value fo the axis 
          AutoMin = Off; //do not scale automatically
          AutoMax = Off;
        };
        
        AbsAxis2 = 
        {
          Visible = Off;
          Min = -0.5*.Style.Sizes[0];
          Max = -Min;
          AutoMin = Off;
          AutoMax = Off;
        };
        
        ValueAxis = 
        {
          Visible = Off;
          Min = -0.5*.Style.Sizes[0];
          Max = -Min;
          AutoMin = Off;
          AutoMax = Off;
          
        };
      };
      
    };
    
    
    
    
    
  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
    nStep=1000;  
  };
  
};  // Main