complete some models

Author: baggepinnen

docs/src/examples/pendulum.md

@@ -42,6 +42,7 @@ nothing # hide
 With all components and connections defined, we can create an `ODESystem` like so:
 ```@example pendulum
 @named model = ODESystem(connections, t, systems=[world, joint, body])
+model = complete(model)
 nothing # hide
 ```
 The `ODESystem` is the fundamental model type in ModelingToolkit used for multibody-type models.
@@ -88,6 +89,7 @@ connections = [connect(world.frame_b, joint.frame_a)
                connect(body.frame_a, joint.frame_b)]
 
 @named model = ODESystem(connections, t, systems = [world, joint, body, damper])
+model = complete(model)
 ssys = structural_simplify(IRSystem(model))
 
 prob = ODEProblem(ssys, [damper.phi_rel => 1], (0, 10))
@@ -120,6 +122,7 @@ connections = [connect(world.frame_b, joint.frame_a)
                connect(body_0.frame_a, joint.frame_b)]
 
 @named model = ODESystem(connections, t, systems = [world, joint, body_0, damper, spring])
+model = complete(model)
 ssys = structural_simplify(IRSystem(model))
 
 prob = ODEProblem(ssys, [], (0, 10))
@@ -146,6 +149,7 @@ connections = [connect(world.frame_b, multibody_spring.frame_a)
                 connect(root_body.frame_a, multibody_spring.frame_b)]
 
 @named model = ODESystem(connections, t, systems = [world, multibody_spring, root_body])
+model = complete(model)
 ssys = structural_simplify(IRSystem(model))
 
 defs = Dict(collect(root_body.r_0) .=> [0, 1e-3, 0]) # The spring has a singularity at zero length, so we start some distance away
@@ -163,6 +167,7 @@ push!(connections, connect(multibody_spring.spring2d.flange_a, damper.flange_a))
 push!(connections, connect(multibody_spring.spring2d.flange_b, damper.flange_b))
 
 @named model = ODESystem(connections, t, systems = [world, multibody_spring, root_body, damper])
+model = complete(model)
 ssys = structural_simplify(IRSystem(model))
 prob = ODEProblem(ssys, defs, (0, 10))
 

docs/src/examples/ropes_and_cables.md

@@ -30,6 +30,7 @@ connections = [connect(world.frame_b, rope.frame_a)
 
 @named stiff_rope = ODESystem(connections, t, systems = [world, body, rope])
 
+stiff_rope = complete(stiff_rope)
 ssys = structural_simplify(IRSystem(stiff_rope))
 prob = ODEProblem(ssys, [], (0, 5))
 sol = solve(prob, Rodas4(autodiff=false))
@@ -53,6 +54,7 @@ connections = [connect(world.frame_b, rope.frame_a)
 
 @named flexible_rope = ODESystem(connections, t, systems = [world, body, rope])
 
+flexible_rope = complete(flexible_rope)
 ssys = structural_simplify(IRSystem(flexible_rope))
 prob = ODEProblem(ssys, [], (0, 8))
 sol = solve(prob, Rodas4(autodiff=false));
@@ -85,7 +87,7 @@ connections = [connect(world.frame_b, fixed.frame_a, chain.frame_a)
                connect(spring.frame_b, fixed.frame_b)]
 
 @named mounted_chain = ODESystem(connections, t, systems = [systems; world])
-
+mounted_chain = complete(mounted_chain)
 ssys = structural_simplify(IRSystem(mounted_chain))
 prob = ODEProblem(ssys, [
     collect(chain.link_8.body.w_a) .=> [0,0,0]; 

docs/src/examples/spherical_pendulum.md

@@ -27,6 +27,7 @@ connections = [connect(world.frame_b, joint.frame_a)
             connect(bar.frame_b, body.frame_a)]
 
 @named model = ODESystem(connections, t, systems = [world; systems])
+model = complete(model)
 ssys = structural_simplify(IRSystem(model))
 
 prob = ODEProblem(ssys, [], (0, 5))

ext/Render.jl

@@ -102,7 +102,8 @@ function get_all_vars(model, vars = Multibody.collect_all(unknowns(model)))
 end
 
 
-function get_cached(cs::CacheSol, t, idxs)
+get_cached(cs::CacheSol, t::AbstractArray, idxs) = cs.sol(t; idxs)
+function get_cached(cs::CacheSol, t::Real, idxs)
     if ModelingToolkit.isparameter(idxs[1])
         return cs.prob.ps[idxs]
     end
@@ -861,6 +862,7 @@ end
 
 Multibody.render!(scene, ::typeof(Multibody.URDFRevolute), sys, sol, t) = false
 Multibody.render!(scene, ::typeof(Multibody.URDFPrismatic), sys, sol, t) = false
+Multibody.render!(scene, ::typeof(Multibody.NullJoint), sys, sol, t) = false
 
 # ==============================================================================
 ## PlanarMechanics