Update docs

Author: CasBex

deps/BouncingBall2D.fmu

@@ -8,41 +8,36 @@ model BouncingBall2D
   parameter Real e = 0.9 "Coefficient of restitution";
   parameter Modelica.Units.SI.Position x0 = 0.5;
   parameter Modelica.Units.SI.Position y0 = 1.0;
-  parameter Modelica.Units.SI.Position dx0 = 1.0;
-  parameter Modelica.Units.SI.Position dy0 = 0.0;
+  parameter Modelica.Units.SI.Velocity dx0 = 1.0;
+  parameter Modelica.Units.SI.Velocity dy0 = 0.0;
   parameter Modelica.Units.SI.Position xmax = 1.0;
   parameter Modelica.Units.SI.Position eps = 1e-2;
+  parameter Real stopFrac = 0.05 "Fraction of velocity left before stopping movement";
+  parameter Modelica.Units.SI.Acceleration g = 9.81 "Gravitational acceleration";
 protected
-  Real y_done;
-  Real x_done;
+  Real active_y;
+  Real active_x;
 initial equation
   x = x0;
   y = y0;
   dx = dx0;
   dy = dy0;
-  y_done = 1.0;
-  x_done = 1.0;
+  active_y = 1.0;
+  active_x = 1.0;
 equation
-  der(x) = if (xmax - x) > r - eps and x > r - eps then dx else 0.0;
-  der(y) = if y > r - eps then dy else 0.0;
+  der(x) = dx * active_x;
+  der(y) = dy * active_y;
   m*der(dx) = 0.0;
-  m*der(dy) = -9.81*m*y_done;
-  when (y < r and dy < 0 and y_done == 1.0) then
-    reinit(dy, -pre(dy)*e);
-  end when;
-  when (y < r - eps) then
-    y_done = 0.0;
-    reinit(dy, 0.0);
+  m*der(dy) = -g*m*active_y;
+  der(active_y) = 0.0;
+  der(active_x) = 0.0;
+  when (y <= r and dy < 0 and active_y == 1.0) then
+    reinit(dy, if abs(pre(dy) * e) < sqrt(2 * (y0-r) * g) * stopFrac then 0 else -pre(dy)*e);
+    reinit(active_y, if abs(pre(dy) * e) < sqrt(2 * (y0-r) * g) * stopFrac then 0.0 else pre(active_y));
   end when;
   when {x < r, (xmax - x) < r} then
-    reinit(dx, -pre(dx)*e);
-  end when;
-  when (abs(dx) < eps) then
-    reinit(dx, 0.0);
-  end when;
-  when {x < r - eps or (xmax - x) < r - eps} then
-    x_done = 0.0;
-    reinit(dx, 0.0);
+    reinit(dx, if abs(pre(dx) * e) < eps then 0.0 else -pre(dx)*e);
+    reinit(active_x, if abs(pre(dx) * e) < eps then 0.0 else pre(active_x));
   end when;
   annotation(
     Icon(coordinateSystem(preserveAspectRatio = false)),

deps/src/BouncingBall/BouncingBall2D.mo

@@ -1,6 +1,10 @@
 [deps]
+ADTypes = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 FMIExchange = "d0f58030-e4f1-4214-a600-bc055fa6d38e"
 FMIImport = "9fcbc62e-52a0-44e9-a616-1359a0008194"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+
+[sources]
+FMIExchange = {path = ".."}

docs/Project.toml

@@ -95,7 +95,7 @@ Pkg.status(; mode = PKGMODE_MANIFEST) # hide
 
 ```@example
 using FMIImport # hide
-println(fmi2Load(joinpath(@__DIR__, "..", "..", "deps", "fmu", "BouncingBall2D.fmu")).modelDescription.generationTool) # hide
+println(loadFMU(joinpath(@__DIR__, "..", "..", "deps", "BouncingBall2D.fmu")).modelDescription.generationTool) # hide
 ```
 ```@raw html
 </details>

docs/src/index.md

@@ -8,18 +8,19 @@ For this tutorial we will need [OrdinaryDiffEq.jl](https://docs.sciml.ai/Ordinar
 using FMIExchange
 using OrdinaryDiffEq
 using Plots
+import ADTypes
 ```
 
 To initialise the FMU, we must provide the path to the FMU, its inputs, outputs and states and the simulation start and stop times.
 If we wish to change the parameters of the FMU we can do this by providing a dictionary of parameter-value pairs.
 ```@example bb
-bbloc = joinpath("deps", "fmu", "BouncingBall2D.fmu") # fmu file location
-bbloc = joinpath(@__DIR__, "..", "..", "deps", "fmu", "BouncingBall2D.fmu") # hide
+bbloc = joinpath("deps", "BouncingBall2D.fmu") # fmu file location
+bbloc = joinpath(@__DIR__, "..", "..", "deps", "BouncingBall2D.fmu") # hide
 bbstart = 0.0 # simulation start
 bbstop = 10.0 # simulation stop
 bbins = String[] # FMU inputs (this FMU has none)
 bbouts = String[] # FMU outputs (this FMU has none)
-bbstates = ["dx", "dy", "x", "y"] # FMU states
+bbstates = ["active_x", "active_y", "dx", "dy", "x", "y"] # FMU states
 bbparameters = Dict("eps"=>1e-2) # FMU parameters (optional)
 nothing # hide
 ```
@@ -36,15 +37,15 @@ nothing # hide
 
 Let's simulate the FMU with the default solver.
 ```@example bb
-u0 = [1.0, 0.0, 0.5, 1.0]
+u0 = [1.0, 1.0, 1.0, 0.0, 0.5, 1.0]
 p0 = Float64[]
 tspan = (bbstart, bbstop)
 
 sol = solve(
     ODEProblem(model, u0, tspan, p0),
-    AutoTsit5(Rosenbrock23(autodiff=false)),
+    AutoTsit5(Rosenbrock23(autodiff=ADTypes.AutoFiniteDiff())),
 )
-plot(sol, idxs=(3,4), legend=false)
+plot(sol, idxs=(5,6), legend=false)
 savefig("nocb.png"); nothing # hide
 ```
 ![](nocb.png)
@@ -57,11 +58,12 @@ If we include them, the ball behaves as expected.
 cbs = get_callbacks(model, bbstart, bbstop)
 sol = solve(
     ODEProblem(model, u0, tspan, p0),
-    AutoTsit5(Rosenbrock23(autodiff=false)),
+    AutoTsit5(Rosenbrock23(autodiff=ADTypes.AutoFiniteDiff())),
     saveat=bbstart:0.01:bbstop, # for a nicer plot
-    callback=CallbackSet(cbs...)
+    callback=CallbackSet(cbs...),
+	dtmax=0.01
 )
-plot(sol, idxs=(3,4), legend=false)
+plot(sol, idxs=(5,6), legend=false)
 savefig("cb.png"); nothing # hide
 ```
 ![](cb.png)
@@ -78,14 +80,15 @@ using FMIExchange
 using LinearAlgebra
 using OrdinaryDiffEq
 using Plots
+import ADTypes
 
 bbloc = joinpath("deps", "fmu", "BouncingBall2D.fmu") # fmu file location
-bbloc = joinpath(@__DIR__, "..", "..", "deps", "fmu", "BouncingBall2D.fmu") # hide
+bbloc = joinpath(@__DIR__, "..", "..", "deps", "BouncingBall2D.fmu") # hide
 bbstart = 0.0 # simulation start
 bbstop = 10.0 # simulation stop
 bbins = String[] # FMU inputs (this FMU has none)
 bbouts = String[] # FMU outputs (this FMU has none)
-bbstates = ["dx", "dy", "x", "y"] # FMU states
+bbstates = ["active_x", "active_y", "dx", "dy", "x", "y"] # FMU states
 bb_radius = 0.1
 bbparameters = Dict("eps"=>1e-2, "r" => bb_radius) # FMU parameters (optional)
 nothing # hide
@@ -175,6 +178,8 @@ This is because `models` is not an `AbstractSimModel`, but rather a `Vector{Abst
 `dynamics(models)` automatically generates an [OrdinaryDiffEq.jl](https://docs.sciml.ai/OrdinaryDiffEq/stable/)-compatible function that combines the ODEs of both models.
 ```@example ss
 u0 = zeros(length(keys(umap)))
+u0[umap["active_x"]] = 1.0
+u0[umap["active_y"]] = 1.0
 u0[umap["x"]] = 0.5
 u0[umap["dx"]] = 0.5
 u0[umap["y"]] = 1.0
@@ -185,18 +190,19 @@ p0 = Float64[0.2, 0.2]
 tspan = (bbstart, bbstop)
 sol = solve(
     ODEProblem(dynamics(models), u0, tspan, p0),
-    AutoTsit5(Rosenbrock23(autodiff=false)),
+    AutoTsit5(Rosenbrock23(autodiff=ADTypes.AutoFiniteDiff())),
     callback=CallbackSet(
         reduce(vcat, get_callbacks.(models, bbstart, bbstop))...,
         screencb,
         collision_cb
     ),
-    dtmax=0.01 # The collision callback may give errors when using large steps
+    dtmax=0.001 # The collision callback may give errors when using large steps
 ) 
 nothing # hide
 ```
 
 We can plot the solution as a nice animation.
+
 ```@example ss
 import Logging # hide
 Logging.disable_logging(Logging.Info) # hide