using Scene instead of SceneOptions

Author: AndreaNeumayr

src/Composition/dynamicCollision.jl

@@ -189,7 +189,7 @@ function visualizeContactAndSupportPoints(ch, world)
     end
 end
 
-printWarnContSupPoints(nVisualContSupPoints) = @warn("If all contact points and/or support points should be visualized please set nVisualContSupPoints = $nVisualContSupPoints in SceneOptions.")
+printWarnContSupPoints(nVisualContSupPoints) = @warn("If all contact points and/or support points should be visualized please set nVisualContSupPoints = $nVisualContSupPoints in Scene.")
 
 # the sphere is visible and its absolute position is updated (this point was computed by the mpr algorithm)
 function setVisualizationContactProperties!(obj::Composition.Object3D, transparency::Float64, point::SVector{3,Float64})

src/Composition/dynamics.jl

@@ -6,8 +6,8 @@ function getJointsAndObject3DsWithoutParents!(evaluatedParameters,
         if typeof(value) == Object3D
             if value.parent === value
                 push!(object3DWithoutParents, value)
-            elseif typeof(value.feature) == Modia3D.Composition.SceneOptions
-                error(value.path, ": Object3D has a parent and defines SceneOptions!")
+            elseif typeof(value.feature) == Modia3D.Composition.Scene
+                error(value.path, ": Object3D has a parent and defines Scene!")
             end
 
         elseif typeof(value) <: Modia3D.AbstractJoint
@@ -66,10 +66,10 @@ end
 
 
 function initAnalysis2!(world)
-    # Construct Scene(..) object
+    # use Scene(..) of world object
     Modia3D.Composition.EmptyObject3DFeature
-    if typeof(world.feature) <: Modia3D.SceneOptions
-        scene = Modia3D.Scene(world.feature)
+    if typeof(world.feature) <: Modia3D.Scene
+        scene = world.feature
     else
         scene = Modia3D.Scene()
     end
@@ -150,9 +150,11 @@ function setModiaJointVariables!(id::Int, _leq_mode, instantiatedModel::ModiaLan
             separateObjects[id] = mbs
 
             # Print
+            #=
             if false
                 printScene(scene)
             end
+            =#
 
             if scene.visualize
                 TimerOutputs.@timeit instantiatedModel.timer "Modia3D_0 initializeVisualization" Modia3D.Composition.initializeVisualization(Modia3D.renderer[1], scene.allVisuElements)

src/Composition/handler.jl

@@ -299,8 +299,7 @@ function build_superObjs!(scene::Scene, world::Object3D)::Nothing
 end
 
 
-function visualizeWorld!(world::Object3D; sceneOptions = SceneOptions())::Nothing
-    scene = Scene(sceneOptions)
+function visualizeWorld!(world::Object3D; scene = Scene())::Nothing
     scene.analysis = Modia3D.KinematicAnalysis
     initAnalysis!(world, scene)
     updatePosition!(world)
@@ -400,7 +399,7 @@ function chooseAndBuildUpTree(world::Object3D, scene::Scene)
     else
         build_tree!(scene, world)
         if scene.options.enableContactDetection
-            error("Collision handling is only possible with the optimized structure. Please set useOptimizedStructure = true in Modia3D.SceneOptions.")
+            error("Collision handling is only possible with the optimized structure. Please set useOptimizedStructure = true in Modia3D.Scene.")
         end
     end
     if length(scene.allVisuElements) > 0

src/Composition/object3D.jl

@@ -108,7 +108,7 @@ mutable struct Object3D <: Modia3D.AbstractObject3D
     I_CM::SMatrix{3,3,Float64,9}  # Inertia matrix at Center of Mass resolved in a frame in the center of mass that is parallel to Object3D in [kg*m^2]
 
     # Additional information associated with Object3D
-    feature::Union{Modia3D.AbstractObject3DFeature, Modia3D.AbstractSceneOptions}  # Optional feature associated with Object3D
+    feature::Union{Modia3D.AbstractObject3DFeature, Modia3D.AbstractScene}  # Optional feature associated with Object3D
     twoObject3Dobject::Vector{Modia3D.AbstractTwoObject3DObject}  # Optional AbstractTwoObject3DObject object associated with Object3D
     hasCutJoint::Bool          # = true if it has a cut joint
     hasForceElement::Bool      # = true if it has a force element
@@ -496,7 +496,7 @@ hasParent(            obj::Object3D) = !(obj.parent === obj)
 hasNoParent(          obj::Object3D) =   obj.parent === obj
 hasChildren(          obj::Object3D) = length(obj.children) > 0
 hasNoChildren(        obj::Object3D) = length(obj.children) == 0
-isWorld(              obj::Object3D) = hasNoParent(obj) && typeof(obj.feature) == Modia3D.SceneOptions
+isWorld(              obj::Object3D) = hasNoParent(obj) && typeof(obj.feature) == Modia3D.Scene
 isNotWorld(           obj::Object3D) = !(isWorld(obj))
 isMovable(            obj::Object3D) = obj.interactionManner.movable
 isLockable(           obj::Object3D) = obj.interactionManner.lockable
@@ -517,13 +517,13 @@ objectHasMovablePos(  obj::Object3D) = !isnothing(obj.interactionManner.movableP
 
 featureHasMass(obj::Object3D) = featureHasMass(obj.feature)
 featureHasMass(feature::Modia3D.AbstractObject3DFeature) = false
-featureHasMass(feature::Modia3D.AbstractSceneOptions) = false
+featureHasMass(feature::Modia3D.AbstractScene) = false
 featureHasMass(feature::Shapes.Solid)                 = !isnothing(feature.massProperties)
 
 isVisible(obj::Object3D, renderer::Modia3D.AbstractRenderer) = isVisible(obj.feature, renderer)
 isVisible(feature::Modia3D.AbstractObject3DFeature, renderer::Modia3D.AbstractRenderer) = false
 
-isVisible(feature::Modia3D.AbstractSceneOptions, renderer::Modia3D.AbstractRenderer) = false
+isVisible(feature::Modia3D.AbstractScene, renderer::Modia3D.AbstractRenderer) = false
 
 canCollide(feature::Modia3D.AbstractObject3DFeature) = false
 

src/Composition/scene.jl

@@ -192,8 +192,8 @@ end
 
 
 
-#-------------------------------------- Global Scene Options -------------------------------
-struct SceneOptions <: Modia3D.AbstractSceneOptions
+#-------------------------------------- Global SceneOptions -------------------------------
+struct SceneOptions
 
     # Gravity field
     gravityField::Modia3D.AbstractGravityField
@@ -417,7 +417,7 @@ Defines global properties of the system, such as the gravity field. Exactly one
 
 - `lightLatitude::Float64`: latitude angle of light position (0 = horizontal)
 """
-mutable struct Scene
+mutable struct Scene <: Modia3D.AbstractScene
     name::String                              # model name
     autoCoordsys::Shapes.CoordinateSystem   # Coordinate system that is automatically included (e.g. due to visualizeFrames=true)
     stack::Vector{Object3D}                   # Stack to traverse objs
@@ -458,7 +458,75 @@ mutable struct Scene
     prismatic::Vector{Prismatic}
     freeMotion::Vector{FreeMotion}
 
-    function Scene(sceneOptions::SceneOptions = SceneOptions())
+
+    function Scene(;gravityField          = UniformGravityField(),
+            useOptimizedStructure         = true,
+            contactDetection              = ContactDetectionMPR_handler(),
+            nVisualContSupPoints          = 5,
+            gap                           = 0.001,
+            enableContactDetection        = true,
+            defaultContactSphereDiameter  = 0.1,
+            elasticContactReductionFactor = 1.0,
+            nominalLength                 = 1.0,
+            defaultFrameLength            = 0.2*nominalLength,
+            defaultJointLength            = nominalLength/10,
+            defaultJointWidth             = nominalLength/20,
+            defaultForceLength            = nominalLength/10,
+            defaultForceWidth             = nominalLength/20,
+            defaultBodyDiameter           = nominalLength/9,
+            defaultWidthFraction          = 20,
+            defaultArrowDiameter          = nominalLength/40,
+            defaultN_to_m                 = 1000,
+            defaultNm_to_m                = 1000,
+            enableVisualization           = true,
+            animationFile                 = nothing,
+            visualizeGravity              = true,
+            visualizeFrames               = false,
+            visualizeConvexHulls          = true,
+            visualizeBoundingBox          = false,
+            visualizeContactPoints        = false,
+            visualizeSupportPoints        = false,
+            cameraDistance                = 10.0*nominalLength,
+            cameraLongitude               = 30/180*pi,
+            cameraLatitude                = 15/180*pi,
+            lightDistance                 = 10.0*nominalLength,
+            lightLongitude                = 60/180*pi,
+            lightLatitude                 = 45/180*pi)
+
+        sceneOptions = SceneOptions(gravityField = gravityField,
+            useOptimizedStructure         = useOptimizedStructure,
+            contactDetection              = contactDetection,
+            nVisualContSupPoints          = nVisualContSupPoints,
+            gap                           = gap,
+            enableContactDetection        = enableContactDetection,
+            defaultContactSphereDiameter  = defaultContactSphereDiameter,
+            elasticContactReductionFactor = elasticContactReductionFactor,
+            nominalLength                 = nominalLength,
+            defaultFrameLength            = defaultFrameLength,
+            defaultJointLength            = defaultJointLength,
+            defaultJointWidth             = defaultJointWidth,
+            defaultForceLength            = defaultForceLength,
+            defaultForceWidth             = defaultForceWidth,
+            defaultBodyDiameter           = defaultBodyDiameter,
+            defaultWidthFraction          = defaultWidthFraction,
+            defaultArrowDiameter          = defaultArrowDiameter,
+            defaultN_to_m                 = defaultN_to_m,
+            defaultNm_to_m                = defaultNm_to_m,
+            enableVisualization           = enableVisualization,
+            animationFile                 = animationFile,
+            visualizeGravity              = visualizeGravity,
+            visualizeFrames               = visualizeFrames,
+            visualizeConvexHulls          = visualizeConvexHulls,
+            visualizeBoundingBox          = visualizeBoundingBox,
+            visualizeContactPoints        = visualizeContactPoints,
+            visualizeSupportPoints        = visualizeSupportPoints,
+            cameraDistance                = cameraDistance,
+            cameraLongitude               = cameraLongitude,
+            cameraLatitude                = cameraLatitude,
+            lightDistance                 = lightDistance,
+            lightLongitude                = lightLongitude,
+            lightLatitude                 = lightLatitude)
+
         exportAnimation = false
         if !isnothing(sceneOptions.animationFile)
             (base, ext) = splitext(sceneOptions.animationFile)
@@ -468,6 +536,7 @@ mutable struct Scene
                 @warn("Extension of animationFile=$(sceneOptions.animationFile) is not 'json'.\n-> Animation export is disabled.")
             end
         end
+
         new("Scene",
             Shapes.CoordinateSystem(length=sceneOptions.defaultFrameLength),
             Vector{Object3D}[],
@@ -493,9 +562,55 @@ mutable struct Scene
             exportAnimation,
             Vector{animationStep}[],
             0,
+            Revolute[],
+            Prismatic[],
+            FreeMotion[])
+
+    end
+#=
+    function Scene(sceneOptions::SceneOptions = SceneOptions())
+
+
+        exportAnimation = false
+        if !isnothing(sceneOptions.animationFile)
+            (base, ext) = splitext(sceneOptions.animationFile)
+            if ext == ".json"
+                exportAnimation = true
+            else
+                @warn("Extension of animationFile=$(sceneOptions.animationFile) is not 'json'.\n-> Animation export is disabled.")
+            end
+        end
 
+
+
+        new("Scene",
+            Shapes.CoordinateSystem(length=sceneOptions.defaultFrameLength),
+            Vector{Object3D}[],
+            Vector{Object3D}[],
+            sceneOptions,
+            false,
+            false,
+            false,
+            false,
+            false,
+            Modia3D.KinematicAnalysis,
+            Vector{SuperObjsRow}[],
+            Vector{Object3D}[],
+            Vector{Object3D}[],
+            Vector{Object3D}[],
+            Vector{Object3D}[],
+            Vector{Object3D}[],
+            Vector{Object3D}[],
+            Vector{Vector{Int64}}[],
+            Dict{Modia3D.AbstractJoint,Vector{Int64}}(),
+            Vector{Union{Bool}}[],
+            Vector{Vector{Basics.BoundingBox}}[],
+            exportAnimation,
+            Vector{animationStep}[],
+            0,
             Revolute[],
             Prismatic[],
             FreeMotion[])
     end
+    =#
 end

src/Modia3D.jl

@@ -31,7 +31,7 @@ abstract type AbstractObject3D end
 abstract type AbstractTwoObject3DObject <: AbstractObject3D end  # Object related to two Object3Ds
 abstract type AbstractJoint             <: AbstractTwoObject3DObject end  # Constraint between two Object3Ds
 
-abstract type AbstractSceneOptions end
+abstract type AbstractScene end
 
 using StaticArrays
 @inline cross(x::SVector{3,Float64}, y::SVector{3,Float64}) = @inbounds SVector{3,Float64}(x[2]*y[3]-x[3]*y[2],
@@ -162,7 +162,7 @@ export Revolute, Prismatic
 
 export UniformGravityField, PointGravityField, NoGravityField
 export VisualMaterial
-export SceneOptions, SimulationModel
+export Scene, SimulationModel
 export print_ModelVariables
 
 export PTP_path, pathEndTime, getPosition!, getPosition, getIndex, plotPath

src/ModiaInterface/model3D.jl

@@ -1,6 +1,6 @@
 # ModiaLang interface to Modia3D
 Object3D(        ; kwargs...) = Par(; _constructor = :(Modia3D.Object3D), _path = true, kwargs...)
-Scene(           ; kwargs...) = Par(; _constructor = :(Modia3D.SceneOptions)          , kwargs...)
+Scene(           ; kwargs...) = Par(; _constructor = :(Modia3D.Scene)                 , kwargs...)
 Visual(          ; kwargs...) = Par(; _constructor = :(Modia3D.Visual)                , kwargs...)
 Solid(           ; kwargs...) = Par(; _constructor = :(Modia3D.Solid)                 , kwargs...)
 Box(             ; kwargs...) = Par(; _constructor = :(Modia3D.Box)                   , kwargs...)

test/old/Move_Pendulum.jl

@@ -21,9 +21,7 @@ cyl = Modia3D.Object3D(parent=frame1, feature = Modia3D.Visual(shape =
 rev = Modia3D.Revolute(obj1=world, obj2=frame1)
 
 # Visualize pendulum
-# Modia3D.visualizeWorld!(world, sceneOptions=Modia3D.SceneOptions(visualizeFrames=true, defaultFrameLength=0.3*Lx))
-
-scene = Modia3D.Scene(Modia3D.SceneOptions(visualizeFrames=true, defaultFrameLength=0.3*Lx))
+scene = Modia3D.Scene(visualizeFrames=true, defaultFrameLength=0.3*Lx)
 Modia3D.initAnalysis!(world, scene)
 
 tStart = 0.0

test/old/Visualize_Beam.jl

@@ -10,7 +10,7 @@ beam  = Modia3D.Object3D(parent=world, translation=[1.0, 1.0, 1.0],
     feature = Modia3D.Visual(shape=Modia3D.Beam(axis=1, length=0.4, width=0.5, thickness=0.3), visualMaterial=mat1))
 
 Modia3D.visualizeWorld!(world,
-    sceneOptions=Modia3D.SceneOptions(visualizeFrames=true, defaultFrameLength=0.7, enableContactDetection=false))
+    scene=Modia3D.Scene(visualizeFrames=true, defaultFrameLength=0.7, enableContactDetection=false))
 
 println("... test/old/Visualize_Beam.jl completed.")