Execution

If we copy the above written code to a file called, say, ``rigidbody'', and invoke

    mbdyn -f rigidbody

after a while we obtain the results of the simulation in a set of files called ``rigidbody.<ext>''. In this case, the extensions will be:

• out for miscellaneous output
• mov for the kinematic output of the node
• ine for the dynamic output of the node
• frc for the output of the force

The first file (out) will be ignored at present. The second file (mov) will contain N_nodes by N_timesteps lines formatted as:

• the node label
• the three coordinates of the position of the node
• the three Euler-like angles that define the orientation of the node (following the 1, 2, 3 convention)
• the three components of the velocity of the node
• the three components of the angular velocity of the node

all the above mentioned quantities are expressed in the global inertial frame.