rename mprTolerance

Author: AndreaNeumayr

src/Composition/scene.jl

@@ -308,7 +308,7 @@ Defines global properties of the system, such as the gravity field. Exactly one
 | `gravityField`                  | [`UniformGravityField`](@ref)`()`       |
 | `useOptimizedStructure`         | true                                    |
 | `enableContactDetection`        | true                                    |
-| `mpr_tol_rel`                   | 1.0e-20                                 |
+| `mprTolerance`                   | 1.0e-20                                 |
 | `elasticContactReductionFactor` | 1.0                                     |
 | `enableVisualization`           | true                                    |
 | `animationFile`                 | nothing                                 |
@@ -338,7 +338,7 @@ Defines global properties of the system, such as the gravity field. Exactly one
 
 - `enableContactDetection::Bool`: = true, if contact detection is enable, see [Collision Handling](@ref).
 
-- `mpr_tol_rel::1.0e-20`: Local tolerance used for terminating the mpr algorithm. Changing this value might improve speed.
+- `mprTolerance::1.0e-20`: Local tolerance used for terminating the mpr algorithm. Changing this value might improve speed.
 
 - `elasticContactReductionFactor::Float64`: (> 0.0)
   - ``usedContactCompliance = contactCompliance * elasticContactReductionFactor``
@@ -421,7 +421,7 @@ mutable struct Scene <: Modia3D.AbstractScene
     function Scene(;gravityField          = UniformGravityField(),
             useOptimizedStructure         = true,
             enableContactDetection        = true,
-            mpr_tol_rel                   = 1.0e-20,
+            mprTolerance                  = 1.0e-20,
             elasticContactReductionFactor = 1.0,
             gap                           = 0.001,
             enableVisualization           = true,
@@ -443,7 +443,7 @@ mutable struct Scene <: Modia3D.AbstractScene
 
         sceneOptions = SceneOptions(gravityField = gravityField,
             useOptimizedStructure         = useOptimizedStructure,
-            contactDetection              = ContactDetectionMPR_handler(tol_rel = mpr_tol_rel),
+            contactDetection              = ContactDetectionMPR_handler(tol_rel = mprTolerance),
             nVisualContSupPoints          = nVisualContSupPoints,
             gap                           = gap,
             enableContactDetection        = enableContactDetection,

test/Collision/Billard16Balls.jl

@@ -86,7 +86,7 @@ Ball = Model(
 )
 
 Billard = Model(
-    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=9.81, n=[0, 0, -1]), mpr_tol_rel = 1.0e-18,
+    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=9.81, n=[0, 0, -1]), mprTolerance = 1.0e-18,
                                    enableContactDetection=true,
                                    nominalLength=0.15*TableX)), # animationFile="Billard16Balls.json"
     table = Table,

test/Collision/CollidingSphereWithBunnies.jl

@@ -14,7 +14,7 @@ massAndGeoSphere = MassPropertiesFromShape()
 # Objects3D
 ConvexPartitions = Model(
     gravField = UniformGravityField(g=9.81, n=[0, -1, 0]),
-    world = Object3D(feature=Scene(gravityField=:gravField, mpr_tol_rel = 1.0e-13)),
+    world = Object3D(feature=Scene(gravityField=:gravField, mprTolerance = 1.0e-13)),
 
     sphere = Object3D(feature=Solid(shape=Sphere(diameter=0.2),
                       visualMaterial=mat1, solidMaterial="Steel",

test/Collision/TwoCollidingBoxes.jl

@@ -9,7 +9,7 @@ vmat2 = Modia3D.VisualMaterial(color="Red"  , transparency=0.6)
 cmat = "Steel"
 
 collidingBoxes = Model(
-    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=9.81, n=[-1, 0, 0]), mpr_tol_rel = 1.0e-9,
+    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=9.81, n=[-1, 0, 0]), mprTolerance = 1.0e-9,
                                           enableContactDetection=true)),
 
     fixedBox = Object3D(parent=:world,

test/Robot/YouBotGripping.jl

@@ -488,7 +488,7 @@ YouBot = Model(
 
 Scenario = Model(
     gravField = UniformGravityField(g=9.81, n=[0,0,-1]),
-    world = Object3D(feature=Scene(gravityField=:gravField,mpr_tol_rel = 1.0e-13, visualizeFrames=false, nominalLength=tableX,
+    world = Object3D(feature=Scene(gravityField=:gravField,mprTolerance = 1.0e-13, visualizeFrames=false, nominalLength=tableX,
     animationFile="YouBotGripping.json",
     enableContactDetection=true, elasticContactReductionFactor=1e-3)),
 #   worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.2))),

test/Robot/YouBotWithSphere.jl

@@ -357,7 +357,7 @@ Gripper = Model(
 
 YouBot = Model(
     gravField = UniformGravityField(g=9.81, n=[0,0,-1]),
-        world = Object3D(feature=Scene(gravityField = :gravField, mpr_tol_rel=1.0e-18,
+        world = Object3D(feature=Scene(gravityField = :gravField, mprTolerance=1.0e-18,
                 visualizeFrames=false, defaultFrameLength=0.1,
                 enableContactDetection=true, elasticContactReductionFactor=1e-4)),
     base = Base,