removed no longer used and unused stuff for mass properties

Author: AndreaNeumayr

src/Composition/_module.jl

@@ -21,7 +21,7 @@ Andrea Neumayr and Martin Otter, [DLR - Institute of System Dynamics and Control
 module Composition
 
 export initialize, initAnalysis!, performAnalysis!, closeAnalysis!, visualize!, visualizeWorld!
-export updatePosition!, update!, driveJoint!
+export updatePosition!, update!
 export Object3D
 export RotationVariables, RCardan123
 export WStartVariables, WCartesian, WCardan123

src/Composition/massPropertiesComputation.jl

@@ -19,19 +19,7 @@ function initializeMassComputation!(scene::Scene)
         buffer    = scene.buffer
         for i = 1:length(buffer)
             rootSuperObj = buffer[i]
-            #=
-                if featureHasMass(rootSuperObj) # feature of root object has already mass properties
-                    rootSuperObj.objectHasMass = true
-                    copyMassPropertiesFromFeatureToObject3D(rootSuperObj.massProperties, rootSuperObj.feature.massProperties.m,
-                    rootSuperObj.feature.massProperties.rCM, rootSuperObj.feature.massProperties.I)
-                    callInitialInertiaTensor!(rootSuperObj, superObjs[i].superObjMass.superObj)
-                else # root obj's feature has no mass properties, but common mass super object do
-                    if length(superObjs[i].superObjMass.superObj) > 0
-                        rootSuperObj.objectHasMass = true
-                        callInitialInertiaTensor!(rootSuperObj, superObjs[i].superObjMass.superObj)
-                    end
-                end
-            =#
+
             if featureHasMass(rootSuperObj) # feature of root object has already mass properties
                 rootSuperObj.hasMass = true
                 rootSuperObj.m       = rootSuperObj.feature.massProperties.m
@@ -52,12 +40,10 @@ function initializeMassComputation!(scene::Scene)
     end
 end
 
-# callInitialInertiaTensor! is called at initialization.
 # It loops over all objects of an actual mass super object.
 # It sums up common mass, inertia tensor and center of mass.
 # The results are stored twice in actual root of super object:
 #       massProperties: container for actual values
-# function callInitialInertiaTensor!(rootSuperObj::Object3D, actualMassSuperObject::Vector{Object3D,1})
 function addMassPropertiesOfAllSuperObjChildsToRootSuperObj!(rootSuperObj::Object3D, actualMassSuperObject::Vector{Object3D})
     if length(actualMassSuperObject) > 0
         for i=1:length(actualMassSuperObject)
@@ -158,13 +144,3 @@ function addOrSubtractMassPropertiesOfChildToRoot!(obj_root, obj_child; add=true
         obj_root.I_CM = I
         return nothing
 end; end
-
-
-# helper function for assigning mass properties
-#=
-function assignMassProperties(massProperties, m, rCM, I)
-    massProperties.m   = m
-    massProperties.rCM = rCM
-    massProperties.I   = I
-end
-=#

src/Composition/object3D.jl

@@ -539,12 +539,6 @@ function canCollide(obj::Object3D)::Bool
 end
 
 
-function driveJoint!(obj::Object3D)::Nothing
-    obj.isDriven = true
-    return nothing
-end
-
-
 """    rootObject3D(obj) - returns the root Object3D of all parents of obj"""
 function rootObject3D(obj::Object3D)::Object3D
     obj1 = obj

src/Composition/printObject3D.jl

@@ -63,15 +63,6 @@ function printScene(scene)
             println("      v          = ", obj.joint.specific.v)
             println("      w          = ", obj.joint.specific.w)
         end
-
-        hasMassProperties =  scene.options.useOptimizedStructure && objectHasMass(obj) ||
-                             !scene.options.useOptimizedStructure && featureHasMass(obj)
-        if hasMassProperties
-            massProperties::Shapes.InternalMassProperties = scene.options.useOptimizedStructure ? obj.massProperties : obj.feature.massProperties
-            println("    massProperties")
-            println("      m   = ", massProperties.m)
-            println("      rCM = ", massProperties.rCM)
-        end
     end
     println()
 end

src/Shapes/_module.jl

@@ -57,7 +57,7 @@ export supportPoint_Sphere, supportPoint_Ellipsoid, supportPoint_Box, supportPoi
 export supportPoint_i_Box, supportPoint_i_Cylinder, supportPoint_i_Cone, supportPoint_i_Capsule,supportPoint_i_Beam, supportPoint_i_Ellipsoid, supportPoint_i_FileMesh
 
 # Solid materials
-export InternalMassProperties, MassProperties, SolidMaterial, ContactMaterialElastic, dummyMassProperties
+export MassProperties, SolidMaterial, ContactMaterialElastic
 
 export MassPropertiesFromShape, MassPropertiesFromShapeAndMass
 

src/Shapes/massProperties.jl

@@ -67,21 +67,7 @@ MassProperties(shape::Modia3D.AbstractGeometry, material::SolidMaterial) =
 MassProperties(shape::Modia3D.AbstractGeometry, materialName::AbstractString) =
                      MassProperties(shape, solidMaterialPalette[materialName])
 
-# structure InternalMassProperties is only for internal purposes
-mutable struct InternalMassProperties <: Modia3D.AbstractMassProperties
-   m::Float64                 # mass in [kg]
-   rCM::Frames.Vector3D   # center of mass in [m]
-   I::SMatrix{3,3,Float64,9}  # inertia matrix in [kg.m^2]
-
-   InternalMassProperties() = new(0.0, Modia3D.ZeroVector3D,
-                                  SMatrix{3,3,Float64,9}(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
-end
-
 
-#=
-getMassProperties(massProperties::Union{Modia3D.AbstractMassProperties, Number, AbstractString, SolidMaterial, Nothing},
-                  shape::Modia3D.AbstractGeometry, solidMaterial::Union{AbstractString,SolidMaterial,Nothing}) = createMassProperties(massProperties, shape, solidMaterial)
-=#
 createMassProperties(massProperties::MassProperties, shape, solidMaterial) = massProperties
 
 createMassProperties(massProperties::Union{Number, SolidMaterial, AbstractString}, shape::Modia3D.AbstractGeometry, solidMaterial) = MassProperties(shape, massProperties)