Collaboration diagram for Force receiver:

Passes a force on and gives the torque of that force about a target point: \( \tau = (r_{F} - r_{T}) \times F \), with \( r_F \) the point where the force acts and \( r_T \) the target point. The three input vectors must be in the same frame; the object does not rotate anything. It has no states and no parameters.

Input ports

Name	Width	Description
ForceIn	3	The force
ForcePos	3	Point where the force acts
TargetPos	3	Point about which the torque is taken

Output ports

Name	Width	Description
ForceOut	3	Copy of ForceIn
TorqueOut	3	Torque about TargetPos: (ForcePos - TargetPos) x ForceIn

With visualization the object draws an arrow at ForcePos with length force/9810 (the unit of the length is not stated in the code).