- Require Modia 0.9.1 + replaced @usingPlotPackage by @usingModiaPlot

Author: MartinOtter

Manifest.toml

@@ -65,9 +65,9 @@ uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33"
 
 [[deps.BandedMatrices]]
 deps = ["ArrayLayouts", "FillArrays", "LinearAlgebra", "Random", "SparseArrays"]
-git-tree-sha1 = "13223ec65172b18f164e8a8338e4e95d40d54c8c"
+git-tree-sha1 = "0227886a3141dfbb9fab5bfbf2133ac57677c1f9"
 uuid = "aae01518-5342-5314-be14-df237901396f"
-version = "0.17.2"
+version = "0.17.3"
 
 [[deps.Base64]]
 uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -603,9 +603,9 @@ uuid = "a63ad114-7e13-5084-954f-fe012c677804"
 
 [[deps.Modia]]
 deps = ["DataFrames", "DiffEqBase", "DifferentialEquations", "FiniteDiff", "ForwardDiff", "InteractiveUtils", "JSON", "LinearAlgebra", "Measurements", "ModiaBase", "MonteCarloMeasurements", "OrderedCollections", "Printf", "RecursiveFactorization", "Reexport", "SignalTables", "StaticArrays", "Sundials", "Test", "TimerOutputs", "Unitful"]
-git-tree-sha1 = "6b9fd66ea84883eb9a03666fc3bdb360d4b86d32"
+git-tree-sha1 = "3740b2a8f0813a7ef12ad9785c3920eeb3216b9e"
 uuid = "cb905087-75eb-5f27-8515-1ce0ec8e839e"
-version = "0.9.0"
+version = "0.9.1"
 
 [[deps.ModiaBase]]
 deps = ["DataFrames", "DiffRules", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "StaticArrays", "Unitful"]
@@ -698,9 +698,9 @@ version = "6.18.1"
 
 [[deps.PDMats]]
 deps = ["LinearAlgebra", "SparseArrays", "SuiteSparse"]
-git-tree-sha1 = "ca433b9e2f5ca3a0ce6702a032fce95a3b6e1e48"
+git-tree-sha1 = "9351c1a6c0e922cc862bd96822a98c9029a6d142"
 uuid = "90014a1f-27ba-587c-ab20-58faa44d9150"
-version = "0.11.14"
+version = "0.11.15"
 
 [[deps.Parameters]]
 deps = ["OrderedCollections", "UnPack"]
@@ -895,9 +895,9 @@ uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383"
 
 [[deps.SignalTables]]
 deps = ["DataFrames", "JSON", "OrderedCollections", "Pkg", "Tables", "Test", "Unitful"]
-git-tree-sha1 = "cc3aa097670199d3eb1424d69b393844a916edc8"
+git-tree-sha1 = "ddd51e545dc084c588ca158d773452218fdf0e9a"
 uuid = "3201582d-3078-4276-ba5d-0a1254d79d7c"
-version = "0.3.4"
+version = "0.3.5"
 
 [[deps.SimpleTraits]]
 deps = ["InteractiveUtils", "MacroTools"]

Project.toml

@@ -12,7 +12,7 @@ HTTP = "0.9"
 JSON = "0.21"
 Measurements = "2"
 MeshIO = "0.4.10"
-Modia = "0.9.0"
+Modia = "0.9.1"
 MonteCarloMeasurements = "1"
 OrderedCollections = "1"
 Reexport = "1.0"

docs/src/index.md

@@ -54,7 +54,7 @@ Modia3D has various *3D animation features*:
 
 ## Faster Startup
 
-In order to speed up startup, it is adviced to generate a sysimage by executing the following commands:
+In order to speed up startup a sysimage can be generated by executing the following commands:
 
 ```julia
 julia
@@ -96,30 +96,14 @@ julia -JModia3D_sysimage.so  (otherwise)
 
 ### Version 0.11.0
 
-- Requires Modia 0.9.0 or later.
+- Requires Modia 0.9.1 or later.
 
 - Additional keyword arguments of Object3D: `Object3D(..., fixedInParent=true, velocity=[0.0, 0.0, 0.0], angularVelocity=[0.0, 0.0, 0.0])`,
   besides the existing `parent, translation, rotation, feature`. A freely moving Object3D is defined with
   `Object3D(..., fixedInParent=false, ...)`, where `velocity=.., angularVelocity=..`
-  are the initial conditions (resolved in the parent frame). The states and other code for such Object3Ds are
-  *not* part of the generated code (so compilation is faster, and the objects can be changed after code generation).\
-  If `fixedToParent=false`, vectors `translation, rotation, velocity, angularVelocity` (all resolved in `parent`) 
-  are used as states and are available in the result for plotting.
-  `rotation` is vector `[angleX, angleY, angleZ]` to rotate the parent coordinate system
-  along the x-axis with `angleX`, the y-axis with `angleY` and the z-axis with `angleZ` to arrive at the Object3D 
-  coordinate system.  If `rotation[2]` is close to its singular position (= 90u"°" or -90u"°"), 
-  an event is triggered and the rotation sequence is changed from `[angleX, angleY, angleZ]` to `[angleX, angleZ, angleY]`. 
-  In the new rotation sequence, `rotation[2]` is far from its singular position at this time instant.
-  Variable `rotationXYZ::Bool` in the result signals whether rotation is defined with rotation
-  sequence `[angleX, angleY, angleZ]` (`rotationXYZ=true`) or with rotation sequence 
-  `[angleX, angleZ, angleY]` (`rotationXYZ=false`). See, example `Modia3D/test/Basic/ShaftFreeMotionAdaptiveRotSequence.jl`.
-  Note, the initial conditions (so `rotation=...` as key/value pair in the Object3D constructor)
-  are always with `rotationXYZ=true`.\
-  With respect to an approach where the rotation is described with *quaternions*, the
-  adaptive rotation sequence handling has the benefits, that (1) all integrators can be used
-  (a quaternion description works with an overdetermined set of states and therefore standard
-  integrators with step size control need code changes) and that (2) integrators with step size control can usually
-  perform larger steps.
+  are the initial conditions (resolved in the parent frame). For more details, see [`Object3D`](@ref).\
+  The states and other code for such Object3Ds are *not* part of the generated code
+  (so compilation is faster, and the objects can be changed after code generation).
 
 - The `FreeMotion` joints in all test models have been removed and replaced by Object3Ds with `fixedInParent=false`.
   A new test model test/Basic/FreeShaftAdaptiveRotSequenceWithFreeMotion.jl has been introduced with a `FreeMotion`

docs/src/tutorial/CollisionHandling.md

@@ -31,7 +31,7 @@ BouncingSphere = Model3D(
 bouncingSphere = @instantiateModel(BouncingSphere, unitless=true)
 simulate!(bouncingSphere, stopTime=2.2, dtmax=0.1)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(bouncingSphere, "sphere.translation", figure=1)
 
 end

docs/src/tutorial/GettingStarted.md

@@ -25,7 +25,7 @@ Pendulum = Model3D(
 pendulum = @instantiateModel(Pendulum, unitless=true)
 simulate!(pendulum, stopTime=3.0)
 
-@usingPlotPackage     # use the plot package defined by ENV["MODIA_PLOT"]
+@usingModiaPlot     # use the plot package defined by ENV["MODIA_PLOT"]
 plot(pendulum, "rev.phi")
 
 end
@@ -66,7 +66,7 @@ Pendulum = Model3D(
 pendulum = @instantiateModel(Pendulum, unitless=true)
 simulate!(pendulum, stopTime=3.0)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(pendulum, "rev.phi")
 
 end
@@ -114,7 +114,7 @@ Pendulum = Model3D(
 pendulum = @instantiateModel(Pendulum, unitless=true)
 simulate!(pendulum, stopTime=3.0)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(pendulum, "rev.phi")
 
 end

src/Composition/object3D.jl

@@ -82,8 +82,13 @@ If `rotation[2]` is close to its singular position (= 90u"°" or -90u"°"), an e
 `[angleX, angleZ, angleY]`. In the new rotation sequence, `rotation[2]` is far from its singular position at this time instant. Variable `rotationXYZ::Bool` in the result
 signals whether `rotation` is defined with rotation sequence `[angleX, angleY, angleZ]` (`rotationXYZ=true`) or with rotation sequence `[angleX, angleZ, angleY]` (`rotationXYZ=false`).
 See, example `Modia3D/test/Basic/ShaftFreeMotionAdaptiveRotSequence.jl`.
+The initial conditions (so `rotation=...` as key/value pair in the Object3D constructor) are always with `rotationXYZ=true`.\
 
-
+With respect to an approach where the rotation is described with *quaternions*, the
+adaptive rotation sequence handling has the benefit that all integrators can be used
+(a quaternion description works with an overdetermined set of states and therefore standard
+integrators with step size control need non-trivial code changes).
+  
 # Example
 
 ```julia

test/Basic/BouncingSphere3D.jl

@@ -26,7 +26,7 @@ requiredFinalStates = [-1.1158498420134682e-7, 0.09999999283736953, 1.9605796328
 simulate!(bouncingSphere, stopTime=2.2, dtmax=0.1, log=true, logStates=true, requiredFinalStates=requiredFinalStates)
 showInfo(bouncingSphere)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(bouncingSphere, ["sphere.translation", "sphere.velocity", "sphere.rotationXYZ"], figure=1)
 
 end

test/Basic/BoxPlanarMotion.jl

@@ -22,7 +22,7 @@ stopTime = 4.0
 requiredFinalStates = [1.0, 3.0, -2.0, -1.0, 3.0, 12.0]
 simulate!(model, stopTime=stopTime, log=true, logStates=true, requiredFinalStates=requiredFinalStates)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(model, ["prismatic_x.s", "prismatic_y.s", "revolute_z.phi"], figure=1)
 
 end

test/Basic/DoublePendulumWithDampers.jl

@@ -50,7 +50,7 @@ tolerance = 1.0e-8
 requiredFinalStates = [-0.9608496178685947, 1.0258202272580021, -6.0828664801544345, -0.11676963250128454]
 simulate!(doublePendulum, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, requiredFinalStates=requiredFinalStates)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(doublePendulum, [("rev1.phi", "rev2.phi"), ("rev1.w", "rev2.w")])
 
 end

test/Basic/FreeShaft.jl

@@ -31,7 +31,7 @@ stopTime = 5.0
 requiredFinalStates=[0.0, 0.5, -0.75, 0.0, 0.1, -0.9, 12.518049845080435, -0.901864379852841, 13.979844149553378, -1.556318674959713, 1.9667313208626755, 2.776623306112369]
 simulate!(shaft, stopTime=stopTime, log=true, logStates=false, requiredFinalStates=requiredFinalStates)
 
-@usingPlotPackage
+@usingModiaPlot
 plot(shaft, ["shaft.shaft.translation", "shaft.shaft.rotation", "shaft.shaft.velocity", "shaft.shaft.angularVelocity"], figure=1)
 
 end