Merge pull request #107 from JuliaComputing/framerender

Framerender

Author: baggepinnen

docs/src/rotations.md

@@ -54,6 +54,10 @@ E = RotXYZ(R)
 Evec = params(E)
 ```
 
+```@example ORI
+rotation_axis(R), rotation_angle(R) # Get an axis-angle representation
+```
+
 ## Conventions for modeling
 See [Orientations and directions](@ref)
 

ext/Render.jl

@@ -305,6 +305,42 @@ function render!(scene, ::typeof(World), sys, sol, t)
     true
 end
 
+function render!(scene, ::typeof(Frame), sys, sol, t)
+    sol(sol.t[1], idxs=sys.render)==true || return true # yes, == true
+    radius = sol(sol.t[1], idxs=sys.radius) |> Float32
+    length = sol(sol.t[1], idxs=sys.length) |> Float32
+    T = get_frame_fun(sol, sys)
+
+    thing = @lift begin
+        Ti = T($t)
+        Rx = Ti[:, 1]
+        O = Point3f(Ti[1:3, 4]) # Assume world is never moving
+        x = O .+ Point3f(length*Rx)
+        Makie.GeometryBasics.Cylinder(O, x, radius)
+    end
+    mesh!(scene, thing, color=:red)
+
+    thing = @lift begin
+        Ti = T($t)
+        Ry = Ti[:, 2]
+        O = Point3f(Ti[1:3, 4]) # Assume world is never moving
+        y = O .+ Point3f(length*Ry)
+        Makie.GeometryBasics.Cylinder(O, y, radius)
+    end
+    mesh!(scene, thing, color=:green)
+
+    thing = @lift begin
+        Ti = T($t)
+        Rz = Ti[:, 3]
+        O = Point3f(Ti[1:3, 4]) # Assume world is never moving
+        z = O .+ Point3f(length*Rz)
+        Makie.GeometryBasics.Cylinder(O, z, radius)
+    end
+    mesh!(scene, thing, color=:blue)
+
+    true
+end
+
 function render!(scene, T::Union{typeof(Revolute), typeof(RevolutePlanarLoopConstraint)}, sys, sol, t)
     r_0 = get_fun(sol, collect(sys.frame_a.r_0))
     n = get_fun(sol, collect(sys.n))

src/frames.jl

@@ -1,4 +1,4 @@
-@connector function Frame(; name, varw = false, r_0 = zeros(3))
+@connector function Frame(; name, varw = false, r_0 = zeros(3), render=false, length=1.0, radius=0.1)
     @variables r_0(t)[1:3]=r_0 [
         description = "Position vector directed from the origin of the world frame to the connector frame origin, resolved in world frame",
     ]
@@ -10,12 +10,17 @@
         connect = Flow,
         description = "Cut torque resolved in connector frame",
     ]
+    pars = @parameters begin
+        render = render
+        length = length
+        radius = radius
+    end
     r_0, f, tau = collect.((r_0, f, tau))
     # R: Orientation object to rotate the world frame into the connector frame
 
     R = NumRotationMatrix(; name, varw, state_priority=-1)
 
-    ODESystem(Equation[], t, [r_0; f; tau], []; name,
+    ODESystem(Equation[], t, [r_0; f; tau], pars; name,
               metadata = Dict(:orientation => R, :frame => true))
 end