It's an Editor/Browser!     It helps you define

	rigid and flexible body attributes
	wheel attributes
	connectivity between bodies and the wheels
	constraints, should you need one
	input and output data required by the dynamics model
	plot data that results from the simulation
	discrete processes and switches
	differential equations supporting signal processing and controls
	timing data for the simulation

 

It's a Code Generator!        Once the model file is defined, and with a push of a button, it  prints out the template of the Control Subroutine for you to build on.  The template makes sure that you have the correct interface to the dynamics simulation engine ZDynamo. It has the insertion points for you to define local variables, and instructions that represent your application specific switching functions, control functions, discrete processes, and disturbances. (This capability is for Fortran versions only.)

 

It's a Handy Calculator!     It takes a snap shot of the simulated vehicle and calculates almost anything you want to know about the vehicle dynamics and motion, such as

	postion, and velocity of any point on the system
	constraint torque or force at specified hinges
	system angular and linear momentum
	system kinetic energy
	system mass matrix
	center of mass of a subgroup of bodies outboard of specified hinges
	attitude matrix of selected bodies
	total and relative rotation of member bodies
	total and relative translation of member bodies
	accelerations at selected hinges