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Rectangle

Contactable rectangle

	Description
	The Rectangle element models a contactable rectangle. The contactable surfaces are the top and bottom of the rectangle. The thickness of the rectangle is used as the uncompressed length, $L_{0}$ , in the contact force computation (for details, see Multibody Contact Modes).

Connections

Name	Description	Modelica ID
${frame}_{a}$	Center of rectangle	frame_a
${port}_{a}$	Contact port	port_a

Parameters

Name	Default	Units	Description	Modelica ID
$a$	$2$	$m$	Length of rectangle (along local x-axis)	a
$b$	$1$	$m$	Width of rectangle (along local y-axis)	b
$T$	$0$	$m$	Thickness of surface	T
center	$false$		True means frame is centered in thickness, otherwise flush with top surface (only for $T$ > 0)	center
$e_{norm}$	[0,0,1]		Direction of surface normal	enorm
use surface velocity input	$false$		True means that the surface velocity is taken from its input port and not $v_{surf}$	useInputVelocity
$v_{surf}$	[0,0]	$\frac{m}{s}$	Constant surface velocity vector in the local plane	v_s0
visualization	$false$		True means geometry is visible in playback	visualization
Color	$green$		Color of the rectangle	color

See Also

Multibody Contacts

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