Sphere of sorts

Collaboration diagram for Sphere of sorts:

Spheres that can be connected to other simObjects.

Todo:

Complete documentation of conf. params and check example file.

Example configuration excerpt

<Lib
   LibName    = "marine_elements"
   SimObject  = "Net/Sphere"
   Name       = "S"
   Rho        = "1025"
   SphereD    = "0.1"
   SphereMass = "1000"
   D          = "0.01"
/>

Input Ports

Name	Width	Description
Force	3	Force acting on the sphere.

Output Ports

Name	Width	Description
Position	3	Position of the sphere.
Velocity	3	Velocity of the sphere.

Configuration parameters

Name	Width	Description
Rho	1	...
SphereD	1	Diameter of the sphere.
SphereMass	1	Mass of the sphere.
D	1	Diameter of a cable attached to the sphere.
SphereMesh	1	The visualization mesh (geometry) of the Sphere, specified by its filename (Default: fhSphere.mesh).
SphereMaterial	1	The visualization material of the Sphere, specified by its name (Default: firebrick2).

Initial conditions

Name	Width	Description
Position	3	Position of the sphere.
Velocity	3	Velocity of the sphere.

Full example file

<Contents>
   <OBJECTS>
      <Lib
         LibName    ="marine_elements" 
         SimObject  ="Net/Sphere"  
         Name       ="S"
         Rho        = "1025"
         SphereD    = "1"
         SphereMass = "536.7"
         D          = "0.01" 
      />
      <Lib 
         LibName         = "base"
         SimObject       = "DefaultEnvironment"
         Name            = "Environment"
         Seadepth        = "500"
         Density         = "1000"
         CurrentVelocity = "1,0,0"
      />
      <Lib
         LibName            = "marine_elements"
         SimObject          = "RbCable/6DofCable"
         Name               = "C"
         Length             = "6"
         numElements        = "3"
         Alpha              = "0.5"
         Beta               = "0.5"
         Epsilon            = "1e-6"
         Weight             = "200"
         Radius             = "0.005"
         Damping_Tangential = "0.01"
         Damping_Normal     = "1.2"
      />
   </OBJECTS>
   
   <INTERCONNECTIONS>
      <Connection
         S.Force= "0,0,0"
         C.posA = "0,0,0"
         C.posB = "S.Position"
         C.velA = "0,0,0"
         C.velB = "0,0,0"
      />
   </INTERCONNECTIONS>
   
   <INITIALIZATION>
      <InitialCondition
         S.Position = "0.1,0.1,5.9"
         S.Velocity = "0,0,0"
      />
   </INITIALIZATION>
   
   <INTEGRATION>
      <Engine
         IntegratorMethod           = "2"
         NumCores                   = "1"
         TOutput                    = "0, 1, 30"
         LogStates                  = "1"  
         stepsize                   = "0"
         HMax                       = "0.002"
         HMin                       = "0.00000001"
         AbsTol                     = "1e-3" 
         RelTol                     = "1e-3"
         UseRSSNormInsteadOfInfNorm = "0"
         FileOutput                 = "objects:all"
      />
   </INTEGRATION>
</Contents>

This SimObject is referred to as Net/Sphere