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Minor corrections in docu
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‎README.md‎

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[![Travis](https://travis-ci.org/ModiaSim/Modia3D.jl.svg?branch=master)](https://travis-ci.org/ModiaSim/Modia3D.jl)
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[![AppVoyer](https://ci.appveyor.com/api/projects/status/github/ModiaSim/Modia3D.jl?svg=true)](https://ci.appveyor.com/project/MartinOtter/modia3d-jl)
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[![codecov.io](http://codecov.io/github/ModiaSim/Modia3D.jl/coverage.svg?branch=master)](http://codecov.io/github/ModiaSim/Modia3D.jl?branch=master)
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[![Stable](https://img.shields.io/badge/docs-stable-blue.svg)](https://ModiaSim.github.io/Modia3D.jl/stable)
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[![Latest](https://img.shields.io/badge/docs-latest-blue.svg)](https://ModiaSim.github.io/Modia3D.jl/latest)
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[![The MIT License](https://img.shields.io/badge/license-MIT-brightgreen.svg?style=flat-square)](https://github.com/ModiaSim/Modia3D.jl/blob/master/LICENSE.md)
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Modia3D is a Julia package to model fixed and moving objects in 3D (*e.g.* visual shapes, rigid bodies).
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These objects are driven kinematically by pre-defined time functions or are moving dynamically by
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solving Differential Algebraic Equations (DAEs)
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with a variable-step DAE solver. Collision handling with elastic response calculation is
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with a variable-step DAE solver.
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Collision handling with elastic response calculation is
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performed for objects that are defined with a contact material and (a) have a convex geometry,
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(b) can be approximated by a set of convex geometries, or (c) have a concave geometry
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that is (automatically) approximated by its convex hull.
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A more detailed overview of the available features is given in the
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[Modia3D documentation](https://ModiaSim.github.io/Modia3D.jl/latest).
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[Modia3D documentation](https://ModiaSim.github.io/Modia3D.jl/stable).
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Papers about Modia3D:
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- *[Collision Handling with Variable-Step Integrators](docs/resources/documentation/CollisionHandling_Neumayr_Otter_2017.pdf)* ([EOOLT 2017, December](http://www.eoolt.org/2017/))
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## Documentation
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- [**STABLE**](https://ModiaSim.github.io/Modia3D.jl/stable) — *documentation of the last released version.*
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- [**LATEST**](https://ModiaSim.github.io/Modia3D.jl/latest) — *in-development version of the documentation.*
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‎docs/make.jl‎

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makedocs(
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modules = [Modia3D],
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format = :html,
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sitename = "Modia3D",
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authors = "Andrea Neumayr, Martin Otter (DLR-SR)",
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format = Documenter.HTML(prettyurls = false),
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pages = [
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"Home" => "index.md",
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"Manual" => [

‎docs/src/index.md‎

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performed for objects that are defined with a contact material and (a) have a convex geometry, or
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(b) can be approximated by a set of convex geometries, or (c) have a concave geometry
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that is (automatically) approximated by its convex hull.
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A more detailed overview of the available features is given in the
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[Modia3D documentation](https://ModiaSim.github.io/Modia3D.jl/stable).
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Papers about Modia3D:
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- *[Collision Handling with Variable-Step Integrators](../resources/documentation/CollisionHandling_Neumayr_Otter_2017.pdf)* ([EOOLT 2017, December](http://www.eoolt.org/2017/))
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- *Component-Based 3D Modeling of Dynamic Systems*, to be presented at the
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[American Modelica Conference 2018, October 9-10](https://www.modelica.org/events/modelica2018Americas/index_html)
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- *[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))
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- *[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))
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Before releasing version 1.0, Modia3D shall be
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easily combinable with [Modia](https://github.com/ModiaSim/Modia.jl), for example to define a controlled
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- Prismatic and Revolute joints have a new keyword `axis` with possible values 1,2,3,-1,-2,-3,
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to define the axis of movement / rotation.
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- All joints have a new keyword `canCollide` (default = `false`).
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If `false`, collision detection will not occur to the `Object3D`s that are rigidly fixed
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to each other and connected by the joint.
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- Before a simulation is performed, the internal structure is optimized for the computation:
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* For all objects that are rigidly connected, the common mass, center-of-mass, inertia tensor
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are computed and used during simulation. All frames with mass property objects are ignored
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during simulation (if not needed for other purposes).
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* Collision detection is switched off for `Object3D`s that are rigidly connected to each other.
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* The spanning tree of the `Object3D`s is simplified, so that during simulation only
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- Before a simulation is performed, the internal structure is optimized for the computation:
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* For all objects that are rigidly connected, the common mass, common center-of-mass, common inertia tensor
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are computed and used during simulation (and the source frames with mass property objects are ignored
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if not needed for other purposes).
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* Collision detection is switched off for `Object3D` pairs that are rigidly connected to each other.
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* The spanning tree of the `Object3D`s is simplified, so that during simulation only
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the minimum number of frames must be traversed and position, velocity, acceleration of these
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frames are computed.
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frames are computed.
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`Object3D`s that are only used for visualization are only evaluated at communication points
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and only the position is computed (not velocity or acceleration).
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and only the position is computed (not velocity or acceleration).
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- More examples and tests added.
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‎docs/src/man/Plans.md‎

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during integration (especially, changing some of the remaining MVector{3,Float64} to
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SVector{3,Float64}).
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- Improved documentation.
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- Changing to Julia 0.7.
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- **ContactDetectionMPR**
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- The MPR algorithm for distance computation needs to be more thoroughly tested.
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- **Composition**
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- Visualizing (optionally) the direction of the gravity vector if a parallel gravity field is used.
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- Improving efficiency: Structure spanning tree in two parts: One only needed for
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kinematic/dynamic analysis and the remaining part only needed for visualization
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(need only to be evaluated at communication points).
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- Support of more joint types (Spherical, Cylindrical, Planar, GearConstraint, ...).
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- Support of 3D force/torque objects.
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- Automatic handling of 2D and 3D kinematic loops for kinematic and dynamic analysis

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