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AndreaNeumayrAndreaNeumayr
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clean up scene
1 parent 4c55224 commit 51c1081

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+48
-159
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3 files changed

+48
-159
lines changed

‎src/Composition/_module.jl‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -45,7 +45,7 @@ export deleteMaterialLastContactDictContactEnd
4545

4646
export NoGravityField, UniformGravityField, PointGravityField, gravityAcceleration
4747
export G, EarthMass, EarthRadius
48-
export Scene, SceneOptions
48+
export Scene
4949
export upwardsDirection, cameraPosition
5050
export animationData, animationStep
5151

‎src/Composition/object3D.jl‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -123,7 +123,7 @@ mutable struct Object3D <: Modia3D.AbstractObject3D
123123

124124
# = True: Coordinate system of Object3D is always visualized
125125
# = False: Coordinate system of Object3D is never visualized
126-
# = Inherited: Coordinate system of Object3D is visualized, if SceneOptions(visualizeFrames=true)
126+
# = Inherited: Coordinate system of Object3D is visualized, if Scene(visualizeFrames=true)
127127
visualizeFrame::Modia3D.Ternary
128128
visualizationFrame::Vector{Object3D} # If to be visualized, the Object3D holding the coordinate system.
129129

‎src/Composition/scene.jl‎

Lines changed: 46 additions & 157 deletions
Original file line numberDiff line numberDiff line change
@@ -194,126 +194,84 @@ end
194194

195195
#-------------------------------------- Global SceneOptions -------------------------------
196196
struct SceneOptions
197-
198197
# Gravity field
199198
gravityField::Modia3D.AbstractGravityField
200199

201200
# Multibody structure
202201
useOptimizedStructure::Bool # = true, if the optimized structure (with super objects, and common inertia) is used
203202

204-
# Contact detection
205-
contactDetection::Modia3D.AbstractContactDetection
206-
nVisualContSupPoints::Int # amount of visual contact or support points
207-
gap::Float64
203+
### Contact detection ###
208204
enableContactDetection::Bool # = true, if contact detection is enabled
209-
defaultContactSphereDiameter::Float64 # = true, if contact points are visualized
205+
contactDetection::Modia3D.AbstractContactDetection
210206
elasticContactReductionFactor::Float64 # c_res_used = c_res * elasticContactReductionFactor (> 0)
207+
gap::Float64
208+
211209

212-
# Visual defaults
213-
nominalLength::Float64 # [m] Nominal length of 3D system
214-
defaultFrameLength::Float64 # [m] Default for frame length if visualizeFrames = true (but not world frame)
215-
defaultJointLength::Float64 # [m] Default for the fixed length of a shape representing a joint
216-
defaultJointWidth::Float64 # [m] Default for the fixed width of a shape representing a joint
217-
defaultForceLength::Float64 # [m] Default for the fixed length of a shape representing a force (e.g., damper)
218-
defaultForceWidth::Float64 # [m] Default for the fixed width of a shape representing a force (e.g., spring, bushing)
219-
defaultBodyDiameter::Float64 # [m] Default for diameter of sphere representing the center of mass of a body
220-
defaultWidthFraction::Float64 # Default for shape width as a fraction of shape length
221-
defaultArrowDiameter::Float64 # [m] Default for arrow diameter (e.g., of forces, torques, sensors)
222-
defaultN_to_m::Float64 # [N/m] Default scaling of force arrows (length = force/defaultN_to_m)
223-
defaultNm_to_m::Float64 # [N.m/m] Default scaling of torque arrows (length = torque/defaultNm_to_m)
224-
225-
# Animation
210+
### Animation and Visualization ###
226211
enableVisualization::Bool # = true, if online animation is enabled
227212
animationFile::Union{Nothing,String} # path&name of animation file
228-
visualizeGravity::Bool # = true, if gravity field shall be visualized (acceleration vector or field center)
229213
visualizeFrames::Bool # = true, if all frames shall be visualized
230-
visualizeConvexHulls::Bool # = true, if convex hulls (used for contact detection) shall be visualized
231214
visualizeBoundingBox::Bool # = true, if AABB's are visualized
232215
visualizeContactPoints::Bool # = true, if contact points shall be visualized
233216
visualizeSupportPoints::Bool # = true, if support points shall be visualized
217+
# Visual and Animation defaults
218+
nominalLength::Float64 # [m] Nominal length of 3D system
219+
defaultFrameLength::Float64 # [m] Default for frame length if visualizeFrames = true (but not world frame)
220+
nVisualContSupPoints::Int # amount of visual contact or support points
221+
defaultContactSphereDiameter::Float64 # = true, if contact points are visualized
234222
cameraDistance::Float64 # Distance between world frame and camera position
235223
cameraLongitude::Float64 # Longitude angle of camera position (0 = -y/-z/-x direction)
236224
cameraLatitude::Float64 # Latitude angle of camera position (0 = horizontal)
237225
lightDistance::Float64 # Distance between world frame and light position
238226
lightLongitude::Float64 # Longitude angle of light position (0 = -y/-z/-x direction)
239227
lightLatitude::Float64 # Latitude angle of light position (0 = horizontal)
240228

241-
function SceneOptions(;gravityField = UniformGravityField(),
242-
useOptimizedStructure = true,
243-
contactDetection = ContactDetectionMPR_handler(),
244-
nVisualContSupPoints = 5,
245-
gap = 0.001,
246-
enableContactDetection = true,
247-
defaultContactSphereDiameter = 0.1,
248-
elasticContactReductionFactor = 1.0,
249-
nominalLength = 1.0,
250-
defaultFrameLength = 0.2*nominalLength,
251-
defaultJointLength = nominalLength/10,
252-
defaultJointWidth = nominalLength/20,
253-
defaultForceLength = nominalLength/10,
254-
defaultForceWidth = nominalLength/20,
255-
defaultBodyDiameter = nominalLength/9,
256-
defaultWidthFraction = 20,
257-
defaultArrowDiameter = nominalLength/40,
258-
defaultN_to_m = 1000,
259-
defaultNm_to_m = 1000,
260-
enableVisualization = true,
261-
animationFile = nothing,
262-
visualizeGravity = true,
263-
visualizeFrames = false,
264-
visualizeConvexHulls = true,
265-
visualizeBoundingBox = false,
266-
visualizeContactPoints = false,
267-
visualizeSupportPoints = false,
268-
cameraDistance = 10.0*nominalLength,
269-
cameraLongitude = 30/180*pi,
270-
cameraLatitude = 15/180*pi,
271-
lightDistance = 10.0*nominalLength,
272-
lightLongitude = 60/180*pi,
273-
lightLatitude = 45/180*pi)
274-
@assert(nVisualContSupPoints > 0)
229+
function SceneOptions(;gravityField = UniformGravityField(),
230+
useOptimizedStructure = true,
231+
enableContactDetection = true,
232+
contactDetection = ContactDetectionMPR_handler(),
233+
elasticContactReductionFactor = 1.0,
234+
gap = 0.001,
235+
enableVisualization = true,
236+
animationFile = nothing,
237+
visualizeFrames = false,
238+
visualizeBoundingBox = false,
239+
visualizeContactPoints = false,
240+
visualizeSupportPoints = false,
241+
nominalLength = 1.0,
242+
defaultFrameLength = 0.2*nominalLength,
243+
nVisualContSupPoints = 5,
244+
defaultContactSphereDiameter = 0.1,
245+
cameraDistance = 10.0*nominalLength,
246+
cameraLongitude = 30/180*pi,
247+
cameraLatitude = 15/180*pi,
248+
lightDistance = 10.0*nominalLength,
249+
lightLongitude = 60/180*pi,
250+
lightLatitude = 45/180*pi)
275251
@assert(gap > 0.0)
276-
@assert(defaultContactSphereDiameter > 0.0)
277252
@assert(nominalLength > 0.0)
278253
@assert(defaultFrameLength > 0.0)
279-
@assert(defaultJointLength > 0.0)
280-
@assert(defaultJointWidth > 0.0)
281-
@assert(defaultForceLength > 0.0)
282-
@assert(defaultForceWidth > 0.0)
283-
@assert(defaultBodyDiameter >= 0.0)
284-
@assert(defaultArrowDiameter > 0.0)
285-
@assert(defaultN_to_m > 0.0)
286-
@assert(defaultNm_to_m > 0.0)
254+
@assert(nVisualContSupPoints > 0)
255+
@assert(defaultContactSphereDiameter > 0.0)
287256
@assert(cameraDistance > 0.0)
288257
@assert(lightDistance > 0.0)
289258

290259
sceneOptions = new(gravityField,
291260
useOptimizedStructure,
292-
contactDetection,
293-
nVisualContSupPoints,
294-
gap,
295261
enableContactDetection,
296-
defaultContactSphereDiameter,
262+
contactDetection,
297263
elasticContactReductionFactor,
298-
nominalLength,
299-
defaultFrameLength,
300-
defaultJointLength,
301-
defaultJointWidth,
302-
defaultForceLength,
303-
defaultForceWidth,
304-
defaultBodyDiameter,
305-
defaultWidthFraction,
306-
defaultArrowDiameter,
307-
defaultN_to_m,
308-
defaultNm_to_m,
264+
gap,
309265
enableVisualization,
310266
animationFile,
311-
visualizeGravity,
312267
visualizeFrames,
313-
visualizeConvexHulls,
314268
visualizeBoundingBox,
315269
visualizeContactPoints,
316270
visualizeSupportPoints,
271+
nominalLength,
272+
defaultFrameLength,
273+
nVisualContSupPoints,
274+
defaultContactSphereDiameter,
317275
cameraDistance,
318276
cameraLongitude,
319277
cameraLatitude,
@@ -461,31 +419,20 @@ mutable struct Scene <: Modia3D.AbstractScene
461419

462420
function Scene(;gravityField = UniformGravityField(),
463421
useOptimizedStructure = true,
464-
contactDetection = ContactDetectionMPR_handler(),
465-
nVisualContSupPoints = 5,
466-
gap = 0.001,
467422
enableContactDetection = true,
468-
defaultContactSphereDiameter = 0.1,
423+
contactDetection = ContactDetectionMPR_handler(),
469424
elasticContactReductionFactor = 1.0,
470-
nominalLength = 1.0,
471-
defaultFrameLength = 0.2*nominalLength,
472-
defaultJointLength = nominalLength/10,
473-
defaultJointWidth = nominalLength/20,
474-
defaultForceLength = nominalLength/10,
475-
defaultForceWidth = nominalLength/20,
476-
defaultBodyDiameter = nominalLength/9,
477-
defaultWidthFraction = 20,
478-
defaultArrowDiameter = nominalLength/40,
479-
defaultN_to_m = 1000,
480-
defaultNm_to_m = 1000,
425+
gap = 0.001,
481426
enableVisualization = true,
482427
animationFile = nothing,
483-
visualizeGravity = true,
484428
visualizeFrames = false,
485-
visualizeConvexHulls = true,
486429
visualizeBoundingBox = false,
487430
visualizeContactPoints = false,
488431
visualizeSupportPoints = false,
432+
nominalLength = 1.0,
433+
defaultFrameLength = 0.2*nominalLength,
434+
nVisualContSupPoints = 5,
435+
defaultContactSphereDiameter = 0.1,
489436
cameraDistance = 10.0*nominalLength,
490437
cameraLongitude = 30/180*pi,
491438
cameraLatitude = 15/180*pi,
@@ -503,20 +450,9 @@ mutable struct Scene <: Modia3D.AbstractScene
503450
elasticContactReductionFactor = elasticContactReductionFactor,
504451
nominalLength = nominalLength,
505452
defaultFrameLength = defaultFrameLength,
506-
defaultJointLength = defaultJointLength,
507-
defaultJointWidth = defaultJointWidth,
508-
defaultForceLength = defaultForceLength,
509-
defaultForceWidth = defaultForceWidth,
510-
defaultBodyDiameter = defaultBodyDiameter,
511-
defaultWidthFraction = defaultWidthFraction,
512-
defaultArrowDiameter = defaultArrowDiameter,
513-
defaultN_to_m = defaultN_to_m,
514-
defaultNm_to_m = defaultNm_to_m,
515453
enableVisualization = enableVisualization,
516454
animationFile = animationFile,
517-
visualizeGravity = visualizeGravity,
518455
visualizeFrames = visualizeFrames,
519-
visualizeConvexHulls = visualizeConvexHulls,
520456
visualizeBoundingBox = visualizeBoundingBox,
521457
visualizeContactPoints = visualizeContactPoints,
522458
visualizeSupportPoints = visualizeSupportPoints,
@@ -537,52 +473,6 @@ mutable struct Scene <: Modia3D.AbstractScene
537473
end
538474
end
539475

540-
new("Scene",
541-
Shapes.CoordinateSystem(length=sceneOptions.defaultFrameLength),
542-
Vector{Object3D}[],
543-
Vector{Object3D}[],
544-
sceneOptions,
545-
false,
546-
false,
547-
false,
548-
false,
549-
false,
550-
Modia3D.KinematicAnalysis,
551-
Vector{SuperObjsRow}[],
552-
Vector{Object3D}[],
553-
Vector{Object3D}[],
554-
Vector{Object3D}[],
555-
Vector{Object3D}[],
556-
Vector{Object3D}[],
557-
Vector{Object3D}[],
558-
Vector{Vector{Int64}}[],
559-
Dict{Modia3D.AbstractJoint,Vector{Int64}}(),
560-
Vector{Union{Bool}}[],
561-
Vector{Vector{Basics.BoundingBox}}[],
562-
exportAnimation,
563-
Vector{animationStep}[],
564-
0,
565-
Revolute[],
566-
Prismatic[],
567-
FreeMotion[])
568-
569-
end
570-
#=
571-
function Scene(sceneOptions::SceneOptions = SceneOptions())
572-
573-
574-
exportAnimation = false
575-
if !isnothing(sceneOptions.animationFile)
576-
(base, ext) = splitext(sceneOptions.animationFile)
577-
if ext == ".json"
578-
exportAnimation = true
579-
else
580-
@warn("Extension of animationFile=$(sceneOptions.animationFile) is not 'json'.\n-> Animation export is disabled.")
581-
end
582-
end
583-
584-
585-
586476
new("Scene",
587477
Shapes.CoordinateSystem(length=sceneOptions.defaultFrameLength),
588478
Vector{Object3D}[],
@@ -612,5 +502,4 @@ mutable struct Scene <: Modia3D.AbstractScene
612502
Prismatic[],
613503
FreeMotion[])
614504
end
615-
=#
616505
end

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