Release notes introduced + docu of Prismatic/Revolute joint improved

Author: MartinOtter

docs/src/index.md

@@ -120,6 +120,31 @@ There are the following operations on an instance of an assembly:
 
 ### Version 0.3.0
 
+- The first version that requires Julia >= 1.0 (all Julia 0.6 and 0.7 code was removed).
+
+- Adapted to ModiaMath 0.5.0 (earlier versions of ModiaMath are no longer supported).
+
+- Prismatic and Revolute joints have a new keyword `axis` with possible values 1,2,3,-1,-2,-3,
+  to define the axis of movement / rotation.
+  
+- All joints have a new keyword `canCollide` (default = `false`).
+  If `false`, collision detection will not occur to the `Object3D`s that are rigidly fixed
+  to each other and connected by the joint.
+  
+- Before a simulation is performed, the internal structure is optimized for the computation:
+
+  * For all objects that are rigidly connected, the common mass, center-of-mass, inertia tensor
+    are computed and used during simulation. All frames with mass property objects are ignored
+	during simulation (if not needed for other purposes).
+
+  * Collision detection is switched off for `Object3D`s that are rigidly connected to each other.
+  
+  * The spanning tree of the `Object3D`s is simplified, so that during simulation only 
+    the minimum number of frames must be traversed and position, velocity, acceleration of these
+	frames are computed.
+    `Object3D`s that are only used for visualization are only evaluated at communication points
+	and only the position is computed (not velocity or acceleration).
+
 
 
 ### Version 0.2.1

docs/src/man/GettingStarted.md

@@ -3,15 +3,9 @@
 
 ## Installation
 
-**Modia3D** is registered in METADATA.jl and can be installed with Pkg.add:
+**Modia3D** is registered in METADATA.jl and can be installed in the following way (Julia >= 1.0 is required):
 
 ```julia
-# Julia 0.6:
-julia> Pkg.add("Modia3D")
-julia> Pkg.add("ModiaMath")   # in order to use simulate!(..) and plot(..)
-julia> Pkg.add("PyPlot")      # in order that plots are shown
-
-# Julia 0.7 and 1.0 (registration is pending)
 julia> ]add Modia3D
         add ModiaMath  # in order to use simulate!(..) and plot(..)
         add PyPlot     # in order that plots are shown
@@ -35,8 +29,7 @@ are supported. To install the free version for *Windows* or for *Linux* perform
    provide your contact information and click on *Request download* for *Community Edition*.
    Afterwards, you get a link to download the library and you need to unzip the file.
 
-2. In your Julia **startup file** (Julia 0.6: `HOME/.juliarc.jl`, Julia 0.7 and 1.0:
-   `HOME/.julia/config/startup.jl`), include the environment variable
+2. In your Julia **startup file** (`HOME/.julia/config/startup.jl`), include the environment variable
    `ENV["DLR_VISUALIZATION"] = "<path-to-library>/Visualization/Extras/SimVis"`.
    Make sure that the SimVis executable under this directory has execution rights.
    For example in Linux with command:

src/Composition/joints/Prismatic.jl

@@ -95,7 +95,7 @@ get_eAxis(axis::Int) = axis== 1 ? ModiaMath.Vector3D( 1.0,  0.0,  0.0) :
 
 Return a `joint` object that constrains the movement of `obj2::`[`Object3D`](@ref)
 with respect to `obj1::`[`Object3D`](@ref) along
-coordinate axis `axis` (`axis = 1,2,3`). The initial position/velocity of `obj2` with respect
+coordinate axis `axis` (`axis = 1,2,3,-1,-2,-3`). The initial position/velocity of `obj2` with respect
 to `obj1` along `axis` is `s_start` [m] and `v_start` [m/s], respectively.
 If `canCollide=false`, no collision detection will occur between `obj1` and `obj2`
 (and `Object3D`s that are directly or indirectly rigidly fixed to `obj1` or `obj2`).
@@ -132,7 +132,7 @@ function Prismatic(obj1::Object3D, obj2::Object3D;
    rs_start = Float64(s_start)
    rv_start = Float64(v_start)
    (obj_a,obj_b,cutJoint) = attach(obj1, obj2)
-   @assert(1 <= axis <= 3)
+   @assert(1 <= abs(axis) <= 3)
    if obj_b === obj2
       axis2 = axis
    else

src/Composition/joints/Revolute.jl

@@ -88,7 +88,7 @@ end
     joint = Modia3D.Revolute(obj1, obj2; axis=3, phi_start=0, w_start=0, canCollide=false)
 
 Return a Revolute `joint` that rotates `obj1::`[`Object3D`](@ref) into
-`obj2::`[`Object3D`](@ref) along the z-axis of `obj1`.
+`obj2::`[`Object3D`](@ref) along the axis `axis` of `obj1` (`axis = 1,2,3,-1,-2,-3`).
 The initial start angle is `phi_start` and the initial angular velocity
 is `w_start`. If `canCollide=false`, no collision detection will occur between `obj1` and `obj2`
 (and `Object3D`s that are directly or indirectly rigidly fixed to `obj1` or `obj2`).
@@ -124,7 +124,7 @@ function Revolute(obj1::Object3D, obj2::Object3D;
    rphi_start = Float64(phi_start)
    rw_start   = Float64(w_start)
    (obj_a,obj_b,cutJoint) = attach(obj1, obj2)
-   @assert(1 <= axis <= 3)
+   @assert(1 <= abs(axis) <= 3)
    axis  = obj_b===obj2 ? axis : -axis
    if cutJoint
       println("... Revolute joint connecting ", ModiaMath.fullName(obj1), " with ", ModiaMath.fullName(obj2), " is a cut-joint")