Fix depwarn (#171)

* Fix depwarn

* tol changes

---------

Co-authored-by: Fredrik Bagge Carlson <[email protected]>

Author: YingboMa

ext/Render.jl

@@ -6,6 +6,7 @@ import Multibody.PlanarMechanics as P
 using Rotations
 using LinearAlgebra
 using ModelingToolkit
+using ModelingToolkit: get_metadata
 export render, loop_render
 using MeshIO, FileIO
 using StaticArrays
@@ -301,10 +302,11 @@ function render(model, sol,
     if traces !== nothing
         tvec = range(sol.t[1], stop=sol.t[end], length=500)
         for frame in traces
-            (frame.metadata !== nothing) || error("Only frames can be traced in animations.")
-            if get(frame.metadata, :frame, false)
+            md = get_metadata(frame)
+            (md !== nothing) || error("Only frames can be traced in animations.")
+            if get(md, :frame, false)
                 points = get_trans(sol, frame, tvec) |> Matrix
-            elseif get(frame.metadata, :frame_2d, false)
+            elseif get(md, :frame_2d, false)
                 points = get_trans_2d(sol, frame, tvec) |> Matrix
             else
                 error("Got fishy frame metadata")
@@ -374,10 +376,11 @@ function render(model, sol, time::Real;
     if traces !== nothing
         tvec = range(sol.t[1], stop=sol.t[end], length=500)
         for frame in traces
-            (frame.metadata !== nothing) || error("Only frames can be traced in animations.")
-            if get(frame.metadata, :frame, false)
+            md = get_metadata(frame)
+            (md !== nothing) || error("Only frames can be traced in animations.")
+            if get(md, :frame, false)
                 points = get_trans(sol, frame, tvec) |> Matrix
-            elseif get(frame.metadata, :frame_2d, false)
+            elseif get(md, :frame_2d, false)
                 points = get_trans_2d(sol, frame, tvec) |> Matrix
             else
                 error("Got fishy frame metadata")
@@ -1165,4 +1168,4 @@ function render!(scene, ::typeof(Multibody.CylinderVisualizer), sys, sol, t)
     true
 end
 
-end
+end

src/components.jl

@@ -1,9 +1,11 @@
 using LinearAlgebra
+using ModelingToolkit: get_metadata
 import ModelingToolkitStandardLibrary
 
 function isroot(sys)
-    sys.metadata isa Dict || return false
-    get(sys.metadata, :isroot, false)
+    md = get_metadata(sys)
+    md isa Dict || return false
+    get(md, :isroot, false)
 end
 
 purple = [0.5019608f0,0.0f0,0.5019608f0,1.0f0]
@@ -13,12 +15,13 @@ purple = [0.5019608f0,0.0f0,0.5019608f0,1.0f0]
 
 Get the orientation of `sys` as a `RotationMatrix` object. See also [`get_rot`](@ref). `ori(frame).R` is the rotation matrix that rotates a vector from the world coordinate system to the local frame.
 
-For frames, the orientation is stored in the metadata field of the system as `sys.metadata[:orientation]`.
+For frames, the orientation is stored in the metadata field of the system as `get_metadata(sys)[:orientation]`.
 
 If `varw = true`, the angular velocity variables `w` of the frame is also included in the `RotationMatrix` object, otherwise `w` is derived as the time derivative of `R`. `varw = true` is primarily used when selecting a component as root.
 """
 function ori(sys, varw = false)
-    if sys.metadata isa Dict && (O = get(sys.metadata, :orientation, nothing)) !== nothing
+    md = get_metadata(sys)
+    if md isa Dict && (O = get(md, :orientation, nothing)) !== nothing
         R = collect(O.R)
         # Since we are using this function instead of sys.ori, we need to handle namespacing properly as well
         ns = nameof(sys)

test/test_quaternions.jl

@@ -118,22 +118,22 @@ for (i, ti) in enumerate(ts)
 end
 
 # Test that rotational velocity of 1 results in one full rotation in 2π seconds. Test rotation around all three major axes
-@test get_R(sol, body.frame_a, 0pi) ≈ I
+@test get_R(sol, body.frame_a, 0pi) ≈ I atol=1e-3
 @test get_R(sol, body.frame_a, pi/2) ≈ [1 0 0; 0 0 -1; 0 1 0]' atol=1e-3
 @test get_rot(sol, body.frame_a, pi/2)*[0,1,0] ≈ [0,0,1] atol=1e-3 # Same test as above, but in one other way for sanity. They y-axis basis vector is rotated around x axis which aligns it with the z-axis basis vector. get_rot is used for this, which is the transpose of get_R
 @test get_R(sol, body.frame_a, 1pi) ≈ diagm([1, -1, -1]) atol=1e-3
 @test get_R(sol, body.frame_a, 2pi) ≈ I atol=1e-3
 
 prob = ODEProblem(ssys, [collect(body.w_a) .=> [0,1,0];], (0, 2pi))
 sol = solve(prob, Rodas4())#, 
-@test get_R(sol, body.frame_a, 0pi) ≈ I
+@test get_R(sol, body.frame_a, 0pi) ≈ I atol=1e-3
 @test get_R(sol, body.frame_a, 1pi) ≈ diagm([-1, 1, -1]) atol=1e-3
 @test get_R(sol, body.frame_a, 2pi) ≈ I atol=1e-3
 
 
 prob = ODEProblem(ssys, [collect(body.w_a) .=> [0,0,1];], (0, 2pi))
 sol = solve(prob, Rodas4())#, 
-@test get_R(sol, body.frame_a, 0pi) ≈ I
+@test get_R(sol, body.frame_a, 0pi) ≈ I atol=1e-3
 @test get_R(sol, body.frame_a, 1pi) ≈ diagm([-1, -1, 1]) atol=1e-3
 @test get_R(sol, body.frame_a, 2pi) ≈ I atol=1e-3
 
@@ -184,7 +184,7 @@ end
     @test Q ≈ Qh ./ sqrt.(n) atol=1e-2
     @test norm(mapslices(norm, Q, dims=1) .- 1) < 1e-2
 
-    @test get_R(sol, joint.frame_b, 0pi) ≈ I
+    @test get_R(sol, joint.frame_b, 0pi) ≈ I atol=1e-3
     @test_broken get_R(sol, joint.frame_b, pi/2)*[0,1,0] ≈ [0,0,1] atol=1e-3
     @test get_R(sol, joint.frame_b, 1pi) ≈ diagm([1, -1, -1]) atol=1e-3
     @test get_R(sol, joint.frame_b, 2pi) ≈ I atol=1e-3
@@ -245,7 +245,7 @@ end
 
     Matrix(sol(ts, idxs = [body.w_a...]))
 
-    @test get_R(sol, joint.frame_b, 0pi) ≈ I
+    @test get_R(sol, joint.frame_b, 0pi) ≈ I atol = 1e-3
 
 
     # Matrix(sol(ts, idxs = [joint.w_rel_b...]))