// This model has been made to illustrate the function of the AnyKinRotational and the difference between setting the Type o
//of rotation to RotAxesAngle 

//Here is the description of RotAxesAngles from the Manual:
//Cardan angles (Type = RotAxesAngles): Cardan angles measure a 3-D rotation by three angles
//of planar rotation about the reference system?s axes. One should be aware that the sequence
//of these rotations is important, and that any rotation subsequent to the first is a rotation about
//a local axis arising from the previous rotation(s). Typical examples of such coordinates are
//Euler angles and Bryant angles, which are described in the literature and both defined by a
//specific sequence of rotations. In this class, the members Axis1, Axis2, and Axis3 can be
//used to specify any particular sequence of rotations.
//One should notice that Cardan angles for any rotation sequence has the inherent problem of
//singular rotations, i.e., rotations where the middle rotation has made the first and the last axes
//to be parallel; this makes the measure indeterminate and close to such positions it will be
//inaccurate. This problem is also known as "Gimbal Lock".


//The model shows to cooridnate systems, the blue is fixed to ground and the red rotates.
//The drivers has been made with an interpolation function that drives each of the rotations separately and one at the time
//to illustrate the function of the measure.

//Try to run the RotAxesAnglesStudy1 and pay close attention to the rotation sequence.
Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      AnyDrawRefFrame  drw={
        RGB={0,0,1};
        ScaleXYZ={1,1,1}*0.5;
      };
    };  // Global reference frame
    
    AnySeg Mass={
      Mass=0;
      Jii={0.0,0.0,0.0};
      AnyRefNode Node1={
        AnyDrawRefFrame  drw={
          RGB={1,0,0};
          ScaleXYZ={1,1,1}*0.5;
        };
      };
    };
    
    AnyKinEq lincon={
      AnyKinLinear lin ={
        AnyFixedRefFrame  &ref1=..GlobalRef;
        AnyRefNode &ref2=..Mass.Node1;
      };
    };
    
  }; // MyModel
  
  
  
  // This study shows how the RotAxesAngles works:
  // it will rotate equally (Angle) on the three axes
  // Try to change the following properties:
  //     Angle   : amount of rotation on each axis;
  //     Sequence of rotation : sequence of rotations
  
  AnyBodyStudy RotAxesAnglesStudy = {
    AnyFolder &Model = .MyModel;
  
    AnyVar Angle=45; //this is the 
    AnyIntArray  SequenceOfRotation ={0,1,2};    //Default is Z,Y,X = 0,1,2
    
    
    AnyKinEqInterPolDriver drv ={
      AnyKinRotational rot ={
        Type=RotAxesAngles;
        AnyFixedRefFrame  &ref1=...MyModel.GlobalRef;
        AnyRefNode &ref2=...MyModel.Mass.Node1;
      };
      MeasureOrganizer=.SequenceOfRotation;
      Type=PiecewiseLinear;
      T=.tEnd*{0,1,2,3}/3;
      Data={
        {0,1,1,1},
        {0,0,1,1},
        {0,0,0,1}}*.Angle*pi/180;
    };
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
    nStep=1000;
   
  };
  
  
  

  
};  // Main