update models

Author: AndreaNeumayr

test/Collision/BouncingEllipsoid.jl

@@ -29,13 +29,11 @@ BouncingEllipsoid = Model(
 
 bouncingEllipsoid = @instantiateModel(buildModia3D(BouncingEllipsoid), unitless=true, log=false, logStateSelection=false, logCode=false)
 
-#@show bouncingEllipsoid.parameterExpressions
-#@show bouncingEllipsoid.parameters
 
 stopTime = 2.0
 tolerance = 1e-8
-requiredFinalStates = [-0.45515799147473335, 0.05676993769652407, 1.178459912041914, -0.10966302200496965, -0.367365395565088, 0.2903115082177484, 8.759390647284498, -1.3086676277009546, -2.341163220615624, -0.10934417069415246, -1.1736634425032262, -5.6404159425069835]
-simulate!(bouncingEllipsoid, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=false, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [-0.4545597005152044, 0.05683453468299216, 1.1778521103823525, -0.1092425125321821, -0.3622646259841156, 0.28841460521917095, 8.7681878487027, -1.30949181179306, -2.334787231141352, -0.08949785426141968, -1.1664892577220993, -5.628568253333571]
+simulate!(bouncingEllipsoid, stopTime=stopTime, tolerance=tolerance, log=true, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingEllipsoid, ["free.r" "free.rot"; "free.v" "free.w"], figure=1)

test/Collision/BouncingEllipsoidOnSphere.jl

@@ -0,0 +1,39 @@
+module BouncingEllipsoidSimulation
+
+using ModiaLang
+import Modia3D
+using  Modia3D.ModiaInterface
+
+BouncingEllipsoid = Model(
+    boxHeigth = 0.1,
+    gravField = UniformGravityField(g=9.81, n=[0, -1, 0]),
+    world = Object3D(feature=Scene(gravityField=:gravField,
+    mprTolerance=1.0e-19,
+                                   defaultFrameLength=0.2,
+                                   enableContactDetection=true)),
+    worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.5))),
+    ground = Object3D(parent=:world,
+                      translation=:[0.0,-boxHeigth/2,0.0],
+                      feature=Solid(shape=Sphere(diameter=1.5),
+                                    visualMaterial=VisualMaterial(color="DarkGreen", transparency=0.5),
+                                    solidMaterial="Steel",
+                                    collision=true)),
+    ellipsoid = Object3D(feature=Solid(shape=Ellipsoid(lengthX=0.1, lengthY=0.2, lengthZ=0.3),
+                                       visualMaterial=VisualMaterial(color="Blue"),
+                                       solidMaterial="Steel",
+                                       collision=true)),
+    free = FreeMotion(obj1=:world, obj2=:ellipsoid, r=Var(init=[0.0, 1.0, 0.0]), w=Var(init=[5.0, 0.0, -2.0]))
+)
+
+bouncingEllipsoid = @instantiateModel(buildModia3D(BouncingEllipsoid), unitless=true, log=false, logStateSelection=false, logCode=false)
+
+
+stopTime = 2.0
+tolerance = 1e-8
+requiredFinalStates = [1.9013751140911312, -5.182612613347552, -0.6285338998457255, 1.3889960373284438, -10.631628266236548, -0.35235710867283077, 2.6873629925159035, 0.23896916015991412, -8.030636545239265, 6.713810967152868, -1.2032068837594854, -12.984033346958665]
+simulate!(bouncingEllipsoid, stopTime=stopTime, tolerance=tolerance, log=true, requiredFinalStates=requiredFinalStates)
+
+@usingModiaPlot
+plot(bouncingEllipsoid, ["free.r" "free.rot"; "free.v" "free.w"], figure=1)
+
+end

test/includeTests.jl

@@ -44,6 +44,7 @@ Test.@testset "Collision" begin
     include(joinpath("Collision", "BouncingSphere.jl"))
     include(joinpath("Collision", "BouncingSphereFreeMotion.jl"))
     include(joinpath("Collision", "BouncingEllipsoid.jl"))
+    include(joinpath("Collision", "BouncingEllipsoidOnSphere.jl"))
     include(joinpath("Collision", "TwoCollidingBalls.jl"))
     include(joinpath("Collision", "TwoCollidingBoxes.jl"))
     include(joinpath("Collision", "CollidingCylinders.jl"))