Merge pull request #128 from ModiaSim/gh_fixPositionResults

Fix position/orientation results

Author: AndreaNeumayr

Project.toml

@@ -11,8 +11,8 @@ FileIO = "1"
 HTTP = "0.9"
 JSON = "0.21"
 Measurements = "2"
-MeshIO = "0.4.10"
-Modia = "0.12.0"
+MeshIO = ">= 0.4.10"
+Modia = "0.12.1"
 MonteCarloMeasurements = "1"
 OrderedCollections = "1"
 Reexport = "1.0"

docs/src/index.md

@@ -99,6 +99,7 @@ julia -JModia3D_sysimage.so  (otherwise)
 - Add Result Element infrastructure and Result Element ContactResult
 - Bugfix: Correct parent Object3D torque calculation for Fix Joint with non-zero rotation
 - Bugfix: Enable AnimationExport in case of no renderer available
+- Bugfix: Enable position/orientation result signals independent of visualization/animation configuration
 
 
 ### Version 0.12.1

docs/src/internal/Profiling.md

@@ -63,7 +63,7 @@ see next section.
 ## logTiming
 
 Function `simulate!(..., logTiming=true, ...)` has keyword argument `logTiming`. When set to true,
-the result of the `@timeit` macro of the [TimerOutputs](https://github.com/KristofferC/TimerOutputs.jl) package is shown. Function `simulate!(..)` and `Modia3D` are instrumented with this timer. 
+the result of the `@timeit` macro of the [TimerOutputs](https://github.com/KristofferC/TimerOutputs.jl) package is shown. Function `simulate!(..)` and `Modia3D` are instrumented with this timer.
 Example:
 
 ```julia
@@ -164,16 +164,16 @@ is the following:
 
 1. `1.363270 seconds` is the time for the first evaluation of `getDerivatives!`.
    This time is nearly completely used for compilation of this function
-   
+
 2. `0.002773 seconds` is the time for the second evaluation of `getDerivatives!`.
    This time is nearly irrelevant for the timing of `@instantiateModel.`
-   
+
 3. `2.540190` seconds is the total time spent in `@instantiateModel`, including the
    two calls of `getDerivatives!`. This time, together with (1.) shows the following:
    - `0.47*2.5 = 1.1` seconds are used to process the model, generate `getDerivatives!` and
      process `getDerivatives!` twice.
    - `0.53*2.5 = 1.32` seconds are used to compile `getDerivatives!`.
-   
+
 
 The meaning of column `Section` is the following:
 
@@ -208,8 +208,8 @@ The meaning of column `Section` is the following:
 | `Modia3D_2 computeKinematics!`           | Time to compute accelerations with qdd = unit vector. |
 | `Modia3D_2 computeForcesAndResiduals`    | Time to compute forces/torques/residuals for M(q)*qdd. |
 | `Modia3D_3`                              | Time of `leq_mode == -1`. |
-| `Modia3D_3 visualize!`                   | Time of `for obj in updateVisuElements ... visualize(..)`. |
-| `Modia3D_3 exportAnimation`              | Time of `for obj in allVisuElements ... push!(objectData, dat)`  |
+| `Modia3D_3 visualize!`                   | Time of `for obj in visualObject3Ds ... visualize(..)`. |
+| `Modia3D_3 exportAnimation`              | Time of `for obj in visualObject3Ds ... push!(objectData, dat)`  |
 | `Modia3D_4 isTerminal`                   | Time of `exportAnimation` and `closeVisualization` during termination. |
 
 

src/AnimationExport/exportAnimation.jl

@@ -435,9 +435,9 @@ function createAnimationQuaternionTrack(object, animation, obj, iobj, R_obj::Not
 end
 
 
-function exportAnimation(scene)
-    allVisuElements = scene.allVisuElements
-    if scene.exportAnimation && length(allVisuElements) > 0
+function exportAnimation(scene::Modia3D.Composition.Scene{F}) where F <: Modia3D.VarFloatType
+    visualObject3Ds = scene.visualObject3Ds
+    if scene.exportAnimation && length(visualObject3Ds) > 0
         animationFile = scene.options.animationFile
         (head,ext) = splitext(animationFile)
         if ext != ".json"
@@ -467,7 +467,7 @@ function exportAnimation(scene)
         if !isnothing(animation) && length(animation) != 0
             iobj = 0
             tracks = []
-            for obj in allVisuElements
+            for obj in visualObject3Ds
                 iobj = iobj + 1
                 (r_obj, R_obj) = printObjectToJSON(object, elements, obj, initPos=animation[1].objectData[iobj].position, initRot=Modia3D.from_q(animation[1].objectData[iobj].quaternion))
                 if !isnothing(R_obj)
@@ -478,7 +478,7 @@ function exportAnimation(scene)
             animations = [(; name="Simulation", uuid=uuid, tracks)]
             scene = (; metadata, elements.geometries, elements.materials, elements.shapes, object, animations)
         else
-            for obj in allVisuElements
+            for obj in visualObject3Ds
                 (r_obj, R_obj) = printObjectToJSON(object, elements, obj)
             end
             scene = (; metadata, elements.geometries, elements.materials, elements.shapes, object)
@@ -490,13 +490,5 @@ function exportAnimation(scene)
 
         println("done.")
     end
-end
-
-
-function Composition.isVisible(feature::Shapes.Solid{F}, exportAnimation::Bool) where F <: Modia3D.VarFloatType
-    return exportAnimation && !isnothing(feature.shape) && !isnothing(feature.visualMaterial)
-end
-
-function Composition.isVisible(feature::Shapes.Visual, exportAnimation::Bool)
-    return exportAnimation && !isnothing(feature.visualMaterial) && !isnothing(feature.shape)
+    return nothing
 end

src/Composition/assignObjects.jl

@@ -1,19 +1,22 @@
 assignObj(scene, superObjType, obj, actPos) = nothing
 
+# assign obj to superObjType.superObj in case it can collide
 function assignObj(scene::Scene{F}, superObjType::SuperObjCollision{F}, obj::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
     if canCollide(obj)
         push!(superObjType.superObj, obj)
     end
     return nothing
 end
 
+# assign obj to superObjType.superObj in case it has mass
 function assignObj(scene::Scene{F}, superObjType::SuperObjMass{F}, obj::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
     if featureHasMass(obj)
         push!(superObjType.superObj, obj)
     end
     return nothing
 end
 
+# assign obj to superObjType.superObj in case it can be moved
 function assignObj(scene::Scene{F}, superObjType::SuperObjMovable{F}, obj::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
     if isMovable(obj)
         push!(superObjType.superObj, obj)
@@ -26,56 +29,56 @@ function assignObj(scene::Scene{F}, superObjType::SuperObjMovable{F}, obj::Objec
     return nothing
 end
 
+# assign obj to superObjType.superObj in case it can apply force/torque
 function assignObj(scene::Scene{F}, superObjType::SuperObjForce{F}, obj::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
     if canCollide(obj) || hasJoint(obj) || hasForceElement(obj)
         push!(superObjType.superObj, obj)
     end
     return nothing
 end
 
-function assignObj(scene::Scene{F}, superObjType::SuperObjVisu{F}, obj::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
-    renderer = Modia3D.renderer[1]
-    if ( isVisible(obj, renderer) || isVisible(obj, scene.exportAnimation) || !isnothing(obj.visualizationFrame)  ) && !hasJoint(obj) && !canCollide(obj) && !hasForceElement(obj) && !hasChildJoint(obj) #&& !hasCutJoint(obj) && !featureHasMass(obj)
-        # if an Object3D is for visualization/animation export only it is stored in updateVisuElements
-        if !(obj in scene.updateVisuElements)
-            push!(scene.updateVisuElements, obj)
+# assign obj to scene.pureResultObject3Ds in case it is pure result or visualization
+function assignObj(scene::Scene{F}, superObjType::SuperObjResult{F}, obj::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
+    if ( isUserDefined(obj) || isVisible(obj) || length(obj.visualizationFrame) > 0 ) && !hasJoint(obj) && !canCollide(obj) && !hasForceElement(obj) && !hasChildJoint(obj) #&& !hasCutJoint(obj) && !featureHasMass(obj)
+        if !(obj in scene.pureResultObject3Ds)
+            push!(scene.pureResultObject3Ds, obj)
         end
     end
     return nothing
 end
 
-
+# assign obj to field vectors of superObj
 function assignAll(scene::Scene{F}, superObj::SuperObjsRow{F}, obj::Object3D{F}, world::Object3D{F}, actPos::Int64)::Nothing where F <: Modia3D.VarFloatType
     names = fieldnames(typeof(superObj))
     for val in names
-        tmp = getfield(superObj,val)
+        tmp = getfield(superObj, val)
         obj.interactionManner.originPos = actPos
-        assignObj(scene,tmp,obj,actPos)
+        assignObj(scene, tmp, obj, actPos)
     end
     return nothing
 end
 
 
 function fillVisuElements!(scene::Scene{F}, obj::Object3D{F}, world::Object3D{F})::Nothing where F <: Modia3D.VarFloatType
-    if scene.options.enableVisualization || scene.provideAnimationData
-        if isNotCoordinateSystem(obj) && obj.visualizeFrame != Modia3D.False &&
-        ((scene.options.visualizeFrames && obj.visualizeFrame == Modia3D.Inherited) || obj.visualizeFrame == Modia3D.True)
-            name = Symbol(obj.path, ".", "visualizationFrame")
-            if obj != world
-                addObject3DVisualizationFrame!(obj, scene.autoCoordsys, name)
-            else
-                addObject3DVisualizationFrame!(obj, Shapes.CoordinateSystem(length=2*scene.options.defaultFrameLength), name)
-            end
-            append!(scene.allVisuElements, obj.visualizationFrame)
-            # if an Object3D is for visualization only it is stored in updateVisuElements
-            if !(obj in scene.updateVisuElements)
-                push!(scene.updateVisuElements, obj)
-            end
+    if isNotCoordinateSystem(obj) && obj.visualizeFrame != Modia3D.False &&
+    ((scene.options.visualizeFrames && obj.visualizeFrame == Modia3D.Inherited) || obj.visualizeFrame == Modia3D.True)
+        name = Symbol(obj.path, ".", "visualizationFrame")
+        if obj != world
+            addObject3DVisualizationFrame!(obj, scene.autoCoordsys, name)
+        else
+            addObject3DVisualizationFrame!(obj, Shapes.CoordinateSystem(length=2*scene.options.defaultFrameLength), name)
         end
-        if isVisible(obj, Modia3D.renderer[1]) || isVisible(obj, scene.exportAnimation)  # visible in visualization or animation export
-            push!(scene.allVisuElements, obj)
+        append!(scene.visualObject3Ds, obj.visualizationFrame)
+        if !(obj in scene.pureResultObject3Ds)
+            push!(scene.pureResultObject3Ds, obj)
         end
     end
+    if isVisible(obj)
+        push!(scene.visualObject3Ds, obj)
+    end
+    if isUserDefined(obj)
+        push!(scene.userDefinedObject3Ds, obj)
+    end
     return nothing
 end
 

src/Composition/dynamics.jl

@@ -202,17 +202,13 @@ function initSegment_Model3D!(partiallyInstantiatedModel::Modia.InstantiatedMode
             zStartIndex = 0
         end
 
+        # add r_abs and rot123_abs of all user-defined Object3Ds to results
         # objIndices[i,1]: Index of r_abs of Object3D i
-        #           [i,2]: Index of R_abs of Object3D i
-        objIndices = Matrix{Int}(undef, length(scene.updateVisuElements), 2)
-        for (i,obj) in enumerate(scene.updateVisuElements)
-            if typeof(obj.feature) == Modia3D.Composition.EmptyObject3DFeature
-                objIndices[i,1] = 0
-                objIndices[i,2] = 0
-            else
-                objIndices[i,1] = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, obj.path*".r_abs", Modia3D.ZeroVector3D(F), "m")
-                objIndices[i,2] = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, obj.path*".R_abs", Modia3D.NullRotation(F), "")
-            end
+        #           [i,2]: Index of rot123_abs of Object3D i
+        objIndices = Matrix{Int}(undef, length(scene.userDefinedObject3Ds), 2)
+        for (i,obj) in enumerate(scene.userDefinedObject3Ds)
+            objIndices[i,1] = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, obj.path*".r_abs", Modia3D.ZeroVector3D(F), "m")
+            objIndices[i,2] = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, obj.path*".rot123_abs", Modia3D.ZeroVector3D(F), "rad")
         end
 
         mbsBuild.mbs = MultibodyData{F,TimeType}(partiallyInstantiatedModel, modelPath, world, scene,
@@ -233,7 +229,7 @@ function initSegment_Model3D!(partiallyInstantiatedModel::Modia.InstantiatedMode
         if scene.visualize && firstSegment
             TimerOutputs.@timeit partiallyInstantiatedModel.timer "Modia3D_0 initializeVisualization" Modia3D.Composition.initializeVisualization(Modia3D.renderer[1], scene)
             if partiallyInstantiatedModel.options.log
-                println(    "        Modia3D: nVisualShapes = ", length(scene.allVisuElements))
+                println(    "        Modia3D: nVisualShapes = ", length(scene.visualObject3Ds))
                 if scene.options.enableContactDetection
                     println("                 mprTolerance  = ", scene.options.contactDetection.tol_rel)
                     println("                 contact_eps   = ", scene.options.contactDetection.contact_eps)
@@ -557,19 +553,13 @@ function computeGeneralizedForces!(mbs::MultibodyData{F,TimeType}, qdd_hidden::V
         elseif leq_mode == -2
             # Compute only terms needed at a communication point (currently: Only visualization + export animation)
             TimerOutputs.@timeit instantiatedModel.timer "Modia3D_3" begin
-                # objects can have interactionManner (need to rename updateVisuElements)
+                # objects can have interactionManner
                 if scene.options.useOptimizedStructure
-                    objIndices = mbs.objIndices
-                    for (i,obj) in enumerate(scene.updateVisuElements)
+                    for obj in scene.pureResultObject3Ds
                         parent = obj.parent
                         obj.r_abs = obj.r_rel ≡ Modia3D.ZeroVector3D(F) ? parent.r_abs : parent.r_abs + parent.R_abs'*obj.r_rel
                         obj.R_abs = obj.R_rel ≡ Modia3D.NullRotation(F) ? parent.R_abs : obj.R_rel*parent.R_abs
 
-                        if objIndices[i,1] > 0
-                            Modia.copy_w_segmented_value_to_result(instantiatedModel, objIndices[i,1], obj.r_abs)
-                            Modia.copy_w_segmented_value_to_result(instantiatedModel, objIndices[i,2], obj.R_abs)
-                        end
-
                         # is executed only if an internal Object3D called
                         if length( obj.visualizationFrame ) == 1
                             obj.visualizationFrame[1].r_abs = obj.r_abs
@@ -583,6 +573,15 @@ function computeGeneralizedForces!(mbs::MultibodyData{F,TimeType}, qdd_hidden::V
                 end
 
                 if storeResult && !isTerminalOfAllSegments
+                    # copy r_abs and rot123_abs of all user-defined Object3Ds to results
+                    objIndices = mbs.objIndices
+                    for (i, obj) in enumerate(scene.userDefinedObject3Ds)
+                        if objIndices[i,1] > 0
+                            Modia.copy_w_segmented_value_to_result(instantiatedModel, objIndices[i,1], obj.r_abs)
+                            Modia.copy_w_segmented_value_to_result(instantiatedModel, objIndices[i,2], Modia3D.rot123fromR(obj.R_abs))
+                        end
+                    end
+
                     # evaluate result elements
                     for result in resultElements
                         evaluateResultElement(instantiatedModel, scene, result, time)
@@ -606,7 +605,7 @@ function computeGeneralizedForces!(mbs::MultibodyData{F,TimeType}, qdd_hidden::V
                         if provideAnimationData
                             TimerOutputs.@timeit instantiatedModel.timer "Modia3D_3 provideAnimationData" begin
                                 objectData = []
-                                for obj in scene.allVisuElements
+                                for obj in scene.visualObject3Ds
                                     pos = Modia3D.convertToFloat64(obj.r_abs)
                                     ori = Modia3D.from_R(Modia3D.convertToFloat64(obj.R_abs))
                                     dat = animationData(pos, ori)

src/Composition/handler.jl

@@ -7,12 +7,14 @@
 
 
 function build_tree!(scene::Scene{F}, world::Object3D{F})::Nothing where F <: Modia3D.VarFloatType
-    tree                = scene.tree
-    stack               = scene.stack
+    tree                 = scene.tree
+    stack                = scene.stack
     allCollisionElements = scene.allCollisionElements
     empty!(tree)
     empty!(stack)
-    empty!(scene.allVisuElements)
+    empty!(scene.userDefinedObject3Ds)
+    empty!(scene.visualObject3Ds)
+    empty!(scene.pureResultObject3Ds)
     empty!(allCollisionElements)
 
     fillVisuElements!(scene, world, world)
@@ -186,8 +188,10 @@ function build_superObjs!(scene::Scene{F}, world::Object3D{F})::Nothing where F
         treeAccVelo  = scene.treeAccVelo
         empty!(stack)
         empty!(buffer)
-        empty!(scene.allVisuElements)
         empty!(treeAccVelo)
+        empty!(scene.userDefinedObject3Ds)
+        empty!(scene.visualObject3Ds)
+        empty!(scene.pureResultObject3Ds)
 
         world.computeAcceleration = true
         world.isRootObj = true # all objs stored in buffer are root objs
@@ -434,19 +438,19 @@ function chooseAndBuildUpTree(world::Object3D{F}, scene::Scene{F}) where F <: Mo
         if scene.options.enableContactDetection && scene.collide
             initializeContactDetection!(world, scene)
             if length(world.contactVisuObj1) > 0
-                append!(scene.allVisuElements, world.contactVisuObj1)
-                append!(scene.allVisuElements, world.contactVisuObj2)
+                append!(scene.visualObject3Ds, world.contactVisuObj1)
+                append!(scene.visualObject3Ds, world.contactVisuObj2)
             end
             if length(world.supportVisuObj1A) > 0
-                append!(scene.allVisuElements, world.supportVisuObj1A)
-                append!(scene.allVisuElements, world.supportVisuObj2A)
-                append!(scene.allVisuElements, world.supportVisuObj3A)
-                append!(scene.allVisuElements, world.supportVisuObj1B)
-                append!(scene.allVisuElements, world.supportVisuObj2B)
-                append!(scene.allVisuElements, world.supportVisuObj3B)
+                append!(scene.visualObject3Ds, world.supportVisuObj1A)
+                append!(scene.visualObject3Ds, world.supportVisuObj2A)
+                append!(scene.visualObject3Ds, world.supportVisuObj3A)
+                append!(scene.visualObject3Ds, world.supportVisuObj1B)
+                append!(scene.visualObject3Ds, world.supportVisuObj2B)
+                append!(scene.visualObject3Ds, world.supportVisuObj3B)
             end
             if length(world.AABBVisu) > 0
-                append!(scene.allVisuElements, world.AABBVisu)
+                append!(scene.visualObject3Ds, world.AABBVisu)
             end
         end
         initializeMassComputation!(scene)
@@ -463,7 +467,7 @@ function chooseAndBuildUpTree(world::Object3D{F}, scene::Scene{F}) where F <: Mo
         scene.visualize = false
         scene.exportAnimation = false
     else
-        if length(scene.allVisuElements) > 0
+        if length(scene.visualObject3Ds) > 0
             scene.visualize = scene.options.enableVisualization
         else
             scene.visualize = false
@@ -503,13 +507,13 @@ end
 function emptyScene!(scene::Scene{F})::Nothing where F <: Modia3D.VarFloatType
     empty!(scene.stack)
     empty!(scene.buffer)
-
     empty!(scene.superObjs)
-    empty!(scene.updateVisuElements)
+    empty!(scene.userDefinedObject3Ds)
+    empty!(scene.visualObject3Ds)
+    empty!(scene.pureResultObject3Ds)
+    empty!(scene.allCollisionElements)
     empty!(scene.treeAccVelo)
     empty!(scene.tree)
-    empty!(scene.allVisuElements)
-    empty!(scene.allCollisionElements)
     empty!(scene.noCPairs)
     empty!(scene.noCPairsHelp)
     empty!(scene.allowedToMove)
@@ -527,7 +531,7 @@ end
 function closeAnalysis!(scene::Scene{F})::Nothing where F <: Modia3D.VarFloatType
     # Close Visualisation
     closeVisualization(Modia3D.renderer[1])
-    empty!(scene.allVisuElements)
+    empty!(scene.visualObject3Ds)
     scene.visualize = false
     # Close Collision detection
     if scene.collide