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filter some variables that aren't needed for rendering #174

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Merged
merged 1 commit into from
Oct 15, 2024
Merged

filter some variables that aren't needed for rendering #174

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21 changes: 18 additions & 3 deletions ext/Render.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,14 @@ mutable struct CacheSol
vars
last_t::Float64
function CacheSol(model, sol)
vars = get_all_vars(model) |> unique
vars = get_all_vars(model, sol) |> unique
vars = filter(v->!occursin("₊tau(t)", string(v)), vars)
vars = filter(v->!occursin("₊a_0(t)", string(v)), vars)
vars = filter(v->!occursin("₊w_a(t)", string(v)), vars)
vars = filter(v->!occursin("₊v_0(t)", string(v)), vars)
vars = filter(v->!occursin("₊u(t)", string(v)), vars)
vars = filter(v->!occursin("₊z_a(t)", string(v)), vars)
vars = filter(v->!occursin("₊phid(t)", string(v)), vars)
# Main.vars = vars
# @show length(vars)
# filter!(v->ModelingToolkit.SymbolicIndexingInterface.is_variable(sol, v), vars) # To work around https://github.com/SciML/ModelingToolkit.jl/issues/3065
Expand All @@ -92,14 +99,22 @@ mutable struct CacheSol
end
end

function get_all_vars(model, vars = Multibody.collect_all(unknowns(model)))
function get_all_vars(model, sol, vars = Multibody.collect_all(unknowns(model)))
@parameters render
nsrender = Multibody.ModelingToolkit.renamespace(model.name, render)
dorender = try
Bool(sol.prob.ps[nsrender])
catch
true
end
for sys in model.systems
if ModelingToolkit.isframe(sys)
dorender || continue
newvars = Multibody.ModelingToolkit.renamespace.(model.name, Multibody.Symbolics.unwrap.(vec(ori(sys).R)))
append!(vars, newvars)
else
subsys_ns = getproperty(model, sys.name)
get_all_vars(subsys_ns, vars)
get_all_vars(subsys_ns, sol, vars)
end
end
vars
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