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GerhardHippmannGerhardHippmann
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Merge pull request #127 from ModiaSim/an_updateModia3DInterface
add FloatType to Modia3D_Interface.jl
2 parents e8b6879 + b286e06 commit ab363cb

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‎src/Modia3D_Interface.jl‎

Lines changed: 40 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -29,50 +29,47 @@ include("$(ModiaLang.path)/models/Translational.jl")
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include("$(Modia3D.path)/src/ModiaInterface/buildModia3D.jl")
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32-
Object3D( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Object3D), _path = true, kwargs...)
33-
Scene( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Scene) , kwargs...)
34-
Visual( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Visual) , kwargs...)
35-
Solid( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Solid) , kwargs...)
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Box( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Box) , kwargs...)
37-
Beam( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Beam) , kwargs...)
38-
Cylinder( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Cylinder) , kwargs...)
39-
Sphere( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Sphere) , kwargs...)
40-
Ellipsoid( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Ellipsoid) , kwargs...)
41-
Capsule( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Capsule) , kwargs...)
42-
Cone( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Cone) , kwargs...)
43-
SpringShape( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Spring) , kwargs...)
44-
GearWheel( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.GearWheel) , kwargs...)
45-
Grid( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Grid) , kwargs...)
46-
VisualMaterial( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.VisualMaterial) , kwargs...)
47-
MassProperties( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.MassProperties) , kwargs...)
48-
CoordinateSystem(; kwargs...) = Par(; _constructor = :(Modia.Modia3D.CoordinateSystem) , kwargs...)
49-
FileMesh( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.FileMesh) , kwargs...)
50-
Font( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Font) , kwargs...)
51-
TextShape( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.TextShape) , kwargs...)
52-
ModelicaShape( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.ModelicaShape) , kwargs...)
53-
Fix( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Fix) , kwargs...)
54-
Bushing( ; kwargs...) = Par(; _constructor = :(Modia3D.Bushing) , kwargs...)
55-
SpringDamperPtP( ; kwargs...) = Par(; _constructor = :(Modia3D.SpringDamperPtP) , kwargs...)
56-
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MassPropertiesFromShape() = Par(; _constructor = :(Modia.Modia3D.MassPropertiesFromShape))
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MassPropertiesFromShapeAndMass(;mass) = Par(; _constructor = :(Modia.Modia3D.MassPropertiesFromShapeAndMass), mass = mass)
59-
UniformGravityField(; kwargs...) = Par(; _constructor = :(Modia.Modia3D.UniformGravityField), kwargs...)
60-
61-
RefPath(; kwargs...) = Modia3D.ReferencePath(; kwargs...)
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ptpJointSpace(; kwargs...) = Modia3D.ptpJointSpace(; kwargs...)
32+
Object3D( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Object3D{FloatType}), _path = true, kwargs...)
33+
Scene( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Scene{FloatType}) , kwargs...)
34+
Visual( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Visual) , kwargs...)
35+
Solid( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Solid{FloatType}) , kwargs...)
36+
Box( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Box{FloatType}) , kwargs...)
37+
Beam( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Beam{FloatType}) , kwargs...)
38+
Cylinder( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Cylinder{FloatType}) , kwargs...)
39+
Sphere( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Sphere{FloatType}) , kwargs...)
40+
Ellipsoid( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Ellipsoid{FloatType}) , kwargs...)
41+
Capsule( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Capsule{FloatType}) , kwargs...)
42+
Cone( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Cone{FloatType}) , kwargs...)
43+
SpringShape( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Spring) , kwargs...)
44+
GearWheel( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.GearWheel) , kwargs...)
45+
Grid( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Grid) , kwargs...)
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VisualMaterial( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.VisualMaterial) , kwargs...)
47+
MassProperties( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.MassProperties{FloatType}) , kwargs...)
48+
CoordinateSystem(; kwargs...) = Par(; _constructor = :(Modia.Modia3D.CoordinateSystem) , kwargs...)
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FileMesh( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.FileMesh) , kwargs...)
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Font( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Font) , kwargs...)
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TextShape( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.TextShape) , kwargs...)
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ModelicaShape( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.ModelicaShape) , kwargs...)
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Fix( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Fix{FloatType}) , kwargs...)
54+
Bushing( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.Bushing{FloatType}) , kwargs...)
55+
SpringDamperPtP( ; kwargs...) = Par(; _constructor = :(Modia.Modia3D.SpringDamperPtP{FloatType}) , kwargs...)
56+
57+
MassPropertiesFromShape() = Par(; _constructor = :(Modia.Modia3D.MassPropertiesFromShape{FloatType}))
58+
MassPropertiesFromShapeAndMass(; mass) = Par(; _constructor = :(Modia.Modia3D.MassPropertiesFromShapeAndMass{FloatType}), mass = mass)
59+
UniformGravityField(; kwargs...) = Par(; _constructor = :(Modia.Modia3D.UniformGravityField), kwargs...)
60+
61+
RefPath(; kwargs...) = Modia3D.ReferencePath(; kwargs...)
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ptpJointSpace(; kwargs...) = Modia3D.ptpJointSpace(; kwargs...)
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scheduleReferenceMotion(; kwargs...) = Modia3D.scheduleReferenceMotion(; kwargs...)
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calculateRobotMovement(args...) = Modia3D.calculateRobotMovement(args...)
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getRefPathPosition(args...) = Modia3D.getRefPathPosition(args...)
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getRefPathInitPosition(args...) = Modia3D.getRefPathInitPosition(args...)
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calculateRobotMovement(args...) = Modia3D.calculateRobotMovement(args...)
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getRefPathPosition(args...) = Modia3D.getRefPathPosition(args...)
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getRefPathInitPosition(args...) = Modia3D.getRefPathInitPosition(args...)
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getVariables(args...) = (args...,)
71-
68+
getVariables(args...) = (args...,)
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multibodyResiduals!(args...) = Modia3D.multibodyResiduals!(args...)
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setModiaJointVariables!(args...) = Modia3D.setModiaJointVariables!(args...)
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75-
Revolute(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Revolute), _path = true, ndof = 1),
72+
Revolute(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Revolute{FloatType}), _path = true, ndof = 1),
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obj1 = Par(value = obj1),
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obj2 = Par(value = obj2),
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axis = Par(value = axis),
@@ -86,7 +83,7 @@ Revolute(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), canCollide=tr
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]
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)
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RevoluteWithFlange(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Revolute), _path = true, ndof = 1),
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RevoluteWithFlange(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Revolute{FloatType}), _path = true, ndof = 1),
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obj1 = Par(value = obj1),
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obj2 = Par(value = obj2),
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axis = Par(value = axis),
@@ -102,7 +99,7 @@ RevoluteWithFlange(; obj1, obj2, axis=3, phi=Var(init=0.0), w=Var(init=0.0), can
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]
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)
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105-
Prismatic(; obj1, obj2, axis=1, s=Var(init=0.0), v=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Prismatic), _path = true, ndof = 1),
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Prismatic(; obj1, obj2, axis=1, s=Var(init=0.0), v=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Prismatic{FloatType}), _path = true, ndof = 1),
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obj1 = Par(value = obj1),
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obj2 = Par(value = obj2),
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axis = Par(value = axis),
@@ -116,7 +113,7 @@ Prismatic(; obj1, obj2, axis=1, s=Var(init=0.0), v=Var(init=0.0), canCollide=tru
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]
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)
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PrismaticWithFlange(; obj1, obj2, axis=1, s=Var(init=0.0), v=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Prismatic), _path = true, ndof = 1),
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PrismaticWithFlange(; obj1, obj2, axis=1, s=Var(init=0.0), v=Var(init=0.0), canCollide=true) = Model(; _constructor = Par(value = :(Modia.Modia3D.Prismatic{FloatType}), _path = true, ndof = 1),
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obj1 = Par(value = obj1),
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obj2 = Par(value = obj2),
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axis = Par(value = axis),
@@ -198,7 +195,7 @@ singularRem(ang) = abs(rem2pi(ang, RoundNearest)) - 1.5 # is negative/positive
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J123or132(rot, isrot123) = isrot123 ? J123(rot) : J132(rot)
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FreeMotion(; obj1, obj2, r=Var(init=zeros(3)), rot=Var(init=zeros(3)), v=Var(init=zeros(3)), w=Var(init=zeros(3))) = Model(; _constructor = Par(value = :(Modia.Modia3D.FreeMotion), _path = true, ndof = 6),
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FreeMotion(; obj1, obj2, r=Var(init=zeros(3)), rot=Var(init=zeros(3)), v=Var(init=zeros(3)), w=Var(init=zeros(3))) = Model(; _constructor = Par(value = :(Modia.Modia3D.FreeMotion{FloatType}), _path = true, ndof = 6),
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obj1 = Par(value = obj1),
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obj2 = Par(value = obj2),
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r = r,

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