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update release notes v0.5.3
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‎docs/src/index.md‎

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@@ -31,8 +31,44 @@ Download and install the free DLR SimVis Community Edition, e.g. with [https://v
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* Make sure that the SimVis executable under this directory has execution rights. For example in Linux with command: `chmod ug+x <path-to-library>/Visualization/Extras/SimVis/linux/SimVis`
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## Publications
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| | Paper or Talk | Conference | DOI or YouTube |
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|:---|:--------------|:-----------|:---------------|
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| [1] |*[Collision Handling with Variable-Step Integrators](../resources/documentation/CollisionHandling_Neumayr_Otter_2017.pdf)*|[EOOLT 2017, December](http://www.eoolt.org/2017/)|[10.1145/3158191.3158193](https://doi.org/10.1145/3158191.3158193)|
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| [2] |*[Component-Based 3D Modeling of Dynamic Systems](http://www.ep.liu.se/ecp/154/019/ecp18154019.pdf)*|[American Modelica Conference 2018, October](https://www.modelica.org/events/modelica2018Americas/index_html)|[10.3384/ECP18154175](https://doi.org/10.3384/ECP18154175)|
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| [3] |*[Algorithms for Component-Based 3D Modeling](http://www.ep.liu.se/ecp/157/039/ecp19157039.pdf)*|[13th International Modelica Conference 2019, March](https://modelica.org/events/modelica2019)|[10.3384/ecp19157383](https://doi.org/10.3384/ecp19157383)|
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| [4a] |*[Modia3D: Modeling and Simulation of 3D-Systems in Julia](https://proceedings.juliacon.org/papers/10.21105/jcon.00043)*|[JuliaCon 2019, July](https://juliacon.org/2019/)|[10.21105/jcon.00043](https://doi.org/10.21105/jcon.00043)|
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| [4b] |*[Modia3D: Modeling and Simulation of 3D-Systems in Julia](https://proceedings.juliacon.org/papers/10.21105/jcon.00043)*|[JuliaCon 2019, July](https://juliacon.org/2019/)|[YouTube](https://www.youtube.com/watch?v=b3WfqXZRKpA)|
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| [5] |*[Collision Handling with Elastic Response Calculation and Zero-Crossing Functions](https://doi.org/10.1145/3365984.3365986)*|[EOOLT 2019, November](http://www.eoolt.org/2019/)|[10.1145/3365984.3365986](https://doi.org/10.1145/3365984.3365986)|
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| [6] |*[Modia – Modeling Multidomain Engineering Systems with Julia](https://www.youtube.com/watch?v=N94si3rOl1g)*|[JuliaCon 2021, July](https://juliacon.org/2021/)|[YouTube](https://www.youtube.com/watch?v=N94si3rOl1g)|
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| [7a] |*[Modia – Equation Based Modeling and Domain Specific Algorithms](https://doi.org/10.3384/ecp2118173)*|[14th International Modelica Conference 2021, September](http://www.modelica.org/)| [10.3384/ecp2118173](https://doi.org/10.3384/ecp2118173) |
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| [7b] |*[Modia – Equation Based Modeling and Domain Specific Algorithms](https://doi.org/10.3384/ecp2118173)*|[14th International Modelica Conference 2021, September](http://www.modelica.org/)| YouTube comming soon |
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## Release Notes
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### Version 0.5.3
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- Modia3D supports `@instantiatedModel(FloatType = Float64, ...)` as default `FloatType`. Now, further FloatTypes, such as `Float32`, `DoubleFloats.Double64`, `Measurements.Measurement{Float64}`, `MonteCarloMeasurements.StaticParticles{Float64}` are supported. If FloatType is not Float64, the default integrator selected from DifferentialEquations.jl is utilized and no longer Sundials.CVODE_BDF (because CVODE_BDF is only supported for Float64). Since ModiaLang does not yet support integrators with analytic Jacobians, integrators with this feature cannot be used, e.g., this feature needs to be switched off with option `autodiff=false`, if necessary. Recommendation: use `QBDF(autodiff=false)` if FloatType is not Float64. Note, `Tsit5` usually does not work well for collisions, due to the stiff behavior in the contact area. Current limitations:
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- `FloatType = Float32`: usually fails when collisions occur
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- `FloatType = Measurements.xxx`, or `MonteCarloMeasurements.xxx` fail if events occur (e.g. collision handling, switching between different sequences of rotation angles)
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- `FloatType = Measurements.xxx`: Animation is performed for the nominal values (plots show nominal values and the area of the variances)
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- `FloatType = MonteCarloMeasurements.yyy`: Animation is automatically switched off with a warning message (due to severe performance issues that will be fixed in the future)
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- Object3D: use vectors instead of matrices for rotation
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- Scene
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- `maximumContactDamping = 2000.0`: The maximum damping used in the elastice response calculation (previously, this was set to the literal value of 1000 and could not be changed). This value is, for example, used if the normal contact velocity at contact start is small.
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- Shape `FileMesh` is reading mesh-files with [MeshIO.jl](https://github.com/JuliaIO/MeshIO.jl) and no longer with an own parser. As a result, more input formats are supported, in particular also STL and OBJ with non-triangles. Furthermore, duplicate vertices in FileMesh are removed after reading a file. This reduces the computational effort of collision support point calculation.
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- Collision handling slightly improved, e.g., if colliding shapes get in contact with a small normal contact velocity at contact start, the colliding shapes are quickly fixed relative to each other (previously, a lot of events occured in this phase).
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- Updated documentation and some bugs fixed
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- Internal
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- Changed most structs to parameterized structs with type parameter `F` (short for `FloatType`)
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- Changed some remaining vectors and matrices to SVector and SMatrix, respectively, to improve efficiency
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- Cleanup of Modia3D and of Modia (e.g. removed duplicate definition of ModiaInterface in Modia.jl)
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- Event handling slightly changed, in particular the large contact hysteresis in the order of 1e-8 was reduced to 1e-13, after ModiaLang was using the new option RightRootFind of DifferentialEquations.jl. As a result, unnecessary events (signaled via `restart = NoRestart`) should no longer occur
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- Elastic response calculation simplified and improved. In particular, if the normal contact velocity at contact start is below `vsmall` (default = 0.01 m/s), coefficient of restitution is set to zero and no longer to 0.001. As a result, colliding shapes are quickly fixed relative to each other
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- Bug fixed: In some rare situations, it was not correctly checked that a multibody system has exactly one Object3D without parent and with feature=Scene (and no other Object3D has feature=Scene)
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### Version 0.5.2
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- version number and date updated
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- Not backwards compatible to previous versions.
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## Publications
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| | Paper or Talk | Conference | DOI or YouTube |
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|:---|:--------------|:-----------|:---------------|
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| [1] |*[Collision Handling with Variable-Step Integrators](../resources/documentation/CollisionHandling_Neumayr_Otter_2017.pdf)*|[EOOLT 2017, December](http://www.eoolt.org/2017/)|[10.1145/3158191.3158193](https://doi.org/10.1145/3158191.3158193)|
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| [2] |*[Component-Based 3D Modeling of Dynamic Systems](http://www.ep.liu.se/ecp/154/019/ecp18154019.pdf)*|[American Modelica Conference 2018, October](https://www.modelica.org/events/modelica2018Americas/index_html)|[10.3384/ECP18154175](https://doi.org/10.3384/ECP18154175)|
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| [3] |*[Algorithms for Component-Based 3D Modeling](http://www.ep.liu.se/ecp/157/039/ecp19157039.pdf)*|[13th International Modelica Conference 2019, March](https://modelica.org/events/modelica2019)|[10.3384/ecp19157383](https://doi.org/10.3384/ecp19157383)|
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| [4a] |*[Modia3D: Modeling and Simulation of 3D-Systems in Julia](https://proceedings.juliacon.org/papers/10.21105/jcon.00043)*|[JuliaCon 2019, July](https://juliacon.org/2019/)|[10.21105/jcon.00043](https://doi.org/10.21105/jcon.00043)|
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| [4b] |*[Modia3D: Modeling and Simulation of 3D-Systems in Julia](https://proceedings.juliacon.org/papers/10.21105/jcon.00043)*|[JuliaCon 2019, July](https://juliacon.org/2019/)|[YouTube](https://www.youtube.com/watch?v=b3WfqXZRKpA)|
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| [5] |*[Collision Handling with Elastic Response Calculation and Zero-Crossing Functions](https://doi.org/10.1145/3365984.3365986)*|[EOOLT 2019, November](http://www.eoolt.org/2019/)|[10.1145/3365984.3365986](https://doi.org/10.1145/3365984.3365986)|
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| [6] |*[Modia – Modeling Multidomain Engineering Systems with Julia](https://www.youtube.com/watch?v=N94si3rOl1g)*|[JuliaCon 2021, July](https://juliacon.org/2021/)|[YouTube](https://www.youtube.com/watch?v=N94si3rOl1g)|
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| [7a] |*[Modia – Equation Based Modeling and Domain Specific Algorithms](https://doi.org/10.3384/ecp2118173)*|[14th International Modelica Conference 2021, September](http://www.modelica.org/)| [10.3384/ecp2118173](https://doi.org/10.3384/ecp2118173) |
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| [7b] |*[Modia – Equation Based Modeling and Domain Specific Algorithms](https://doi.org/10.3384/ecp2118173)*|[14th International Modelica Conference 2021, September](http://www.modelica.org/)| YouTube comming soon |
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