Facsimile Simulation/Emulation Library

Here are some example records to illustrate this section:

1
10.0 0.0 90.0 45.0 0
  0.0 0.0 0.0
0 0.0 0.0 0.0
  1.0 1.0 1.0
0

The above data defines a rotational, dynamic joint. The speed of the joint is 10 degrees per time unit, and motion is permitted between 0 and 90 degrees. The initial position of the joint is at 45 degrees. This is not a terminal set and so no TCF data is present. A default transformation (no translation, no rotation, and unit scaling) is applied to the joint, meaning that the joint's axes are oriented with the owning cell set's axes; rotation takes place around the cell's/joint's local Z-axis.

0
0.0 0.0 0.0 0.0 1
  0.0 0.0 0.0
0 0.0 0.0 0.0
  1.0 1.0 1.0
0
  0.0 0.0 0.0
0 0.0 0.0 0.0
  1.0 1.0 1.0

This example defines a terminal set with no dynamic joint data. Dummy joint data is present (which is ignored since the joint type is none) and the supplied TCF geometry data applies a default transformation (no translation, no rotation, and unit scaling) to the TCF transformations.

2
500.0 -2000.0 10000.0 0.0 1
  0.0 0.0 0.0
0 -90.0 0.0 0.0
  1.0 1.0 1.0
0
  0.0 0.0 0.0
0 0.0 0.0 0.0
  1.0 1.0 1.0

The above joint data defines a translational, dynamic joint which is also a terminal set. The speed of the joint is 500 distance units per time unit, with motion permitted in the range -2000.0 to 10,000.0 distance units. The initial position of the joint is at 0. The joint applies a transformation to rotate the joint -90.0 degrees about the X-axis. This aligns the joint's Z-axis with the owning cell's Y-axis, so that as the current joint value increases, the cell and its contents travel along the cell's Y-axis; the orientation of the cell and (in particular) its contents are unaffected by this transformation otherwise. Since this cell is also a terminal set, TCF data is appended. In this case, a default transformation is applied to the TCF.