include animation

Author: baggepinnen

docs/src/examples/suspension.md

@@ -178,6 +178,7 @@ rms(x) = sqrt(sum(abs2, x) / length(x))
 ```@example suspension
 import GLMakie
 Multibody.render(model, sol, show_axis=false, x=-1, y=0.3, z=0.3, lookat=[0,0.3,0.3], timescale=3, filename="suspension.gif") # Video
+nothing # hide
 ```
 
 ![suspension](suspension.gif)
@@ -262,8 +263,12 @@ sol = solve(prob, FBDF(autodiff=true), initializealg = ShampineCollocationInit()
 
 ```@example suspension
 Multibody.render(model, sol, show_axis=false, x=-1.5, y=0.3, z=0.0, lookat=[0,0.1,0.0], timescale=3, filename="suspension_halfcar.gif") # Video
+nothing # hide
 ```
 
+![suspension half-car](suspension_halfcar.gif)
+
+
 ## Adding wheels
 The example below further extends the example from above by adding wheels to the suspension system. The excitation is not modeled as a time-varying surface profile, provided through the `surface` argument to the [`SlippingWheel`](@ref) component.
 The connection between the wheels and the ground form two kinematic loops together with the `body_upright` joint, we thus set both wheels to be cut joints using `iscut=true`.
@@ -368,9 +373,10 @@ defs = [
 display(sort(unknowns(ssys), by=string))
 
 prob = ODEProblem(ssys, defs, (0, 4))
-sol = solve(prob, FBDF(autodiff=false), initializealg = ShampineCollocationInit())#, u0 = prob.u0  .+ 1e-6 .* randn.())
+sol = solve(prob, FBDF(autodiff=false), initializealg = ShampineCollocationInit())
 @test SciMLBase.successful_retcode(sol)
 Multibody.render(model, sol, show_axis=false, x=-1.5, y=0.3, z=0.0, lookat=[0,0.1,0.0], timescale=3, filename="suspension_halfcar_wheels.gif") # Video
+nothing # hide
 ```
 
 ![suspension with wheels](suspension_halfcar_wheels.gif)

docs/src/examples/wheel.md

@@ -265,8 +265,10 @@ prob = ODEProblem(ssys, defs, (0.0, 10.0))
 sol = solve(prob, Rodas5P())
 @test SciMLBase.successful_retcode(sol)
 render(model, sol, show_axis=true, x=1, y=-1.8, z=5, lookat=[1,-1.8,0], traces=[model.wheel1.frame_a, model.wheel2.frame_a], filename="drifting.gif")
+nothing # hide
 ```
 
+
 ![drifting animation](drifting.gif)
 
 ## Slip-based planar wheel

src/PlanarMechanics/components.jl

@@ -95,7 +95,7 @@ Body component with mass and inertia
 end
 
 """
-    BodyShape(; name, r = [1,0], r_cm = 0.5*r, gy = -9.807)
+    BodyShape(; name, r = [1,0], r_cm = 0.5*r, gy = -9.80665)
 
 The `BodyShape` component is similar to a [`Body`](@ref), but it has two frames and a vector `r` that describes the translation between them, while the body has a single frame only.
 
@@ -116,9 +116,9 @@ The `BodyShape` component is similar to a [`Body`](@ref), but it has two frames
     @structural_parameters begin
         r = [1,0]
         r_cm = 0.5*r
-        gy = -9.807
     end
     @parameters begin
+        gy = -9.80665
         # r[1:2] = [1,0], [description = "Fixed x,y-length of the rod resolved w.r.t to body frame_a at phi = 0"]
         # r_cm[1:2] = 0.5*r, [description = "Vector from frame_a to center of mass, resolved in frame_a"]
         m = 1, [description = "mass of the body"]