Update makie extension and fix reposition (#155)

* Record multiple kites

* Update reposition to match heading calc

* Extra garbage collect

* Use glmakie

* Dont run without drivers

* Remove non-existent

* Fix examples

* Correct skipping

* Ifelse instead of return

Author: 1-Bart-1

.github/workflows/CI.yml

@@ -45,6 +45,11 @@ jobs:
           - os: ubuntu-latest
             version: '1.11'
             arch: x64
+            prefix: xvfb-run -a
+          - os: ubuntu-latest
+            version: '1.12'
+            arch: x64
+            prefix: xvfb-run -a
           - os: macOS-latest
             version: '1.12'
             arch: aarch64
@@ -56,9 +61,17 @@ jobs:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
 
+      - name: Install display dependencies for GLMakie
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y xvfb libgl1-mesa-dri
+
       - uses: julia-actions/cache@v2
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
+        with:
+          prefix: ${{ matrix.prefix }}
 
       - name: Upload PNG plots as artifact
         if: always()

data/2plate_kite/aero_geometry.yaml

@@ -7,13 +7,13 @@ wing_sections:
   headers: [airfoil_id, LE_x, LE_y, LE_z, TE_x, TE_y, TE_z]
   data:
     # Right section: points 2 (LE) and 3 (TE)
-    - [1, -0.5, 1.0, 2.0, 0.5, 1.0, 2.3]
+    - [1, -0.5, 1.0, 2.0, 0.5, 1.0, 2.2]
 
     # Center section: points 4 (LE) and 5 (TE)
-    - [1, -0.5, 0.0, 2.5, 0.5, 0.0, 2.8]
+    - [1, -0.5, 0.0, 2.5, 0.5, 0.0, 2.7]
 
     # Left section: points 6 (LE) and 7 (TE)
-    - [1, -0.5, -1.0, 2.0, 0.5, -1.0, 2.3]
+    - [1, -0.5, -1.0, 2.0, 0.5, -1.0, 2.2]
 
 wing_airfoils:
   alpha_range: [-180, 180, 1]  # deg

data/2plate_kite/settings.yaml

@@ -1,6 +1,7 @@
 system:
     log_file: "data/2plate"  # filename without extension  [replay only]
-                                   #   use / as path delimiter, even on Windows 
+                                   #   use / as path delimiter, even on Windows
+    sample_freq:   20              # sample frequency in Hz
     g_earth:     9.81
 
 initial:

examples/coupled_2plate_kite.jl

@@ -27,7 +27,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 set = Settings("system.yaml")
 set.g_earth = 0.0
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name=MODEL_NAME, set, vsm_set)

examples/coupled_2plate_kite_linear_vsm.jl

@@ -23,7 +23,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 
 set = Settings("system.yaml")
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name=MODEL_NAME, set, vsm_set)

examples/coupled_linearize.jl

@@ -19,7 +19,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 
 set = Settings("system.yaml")
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name="2plate_kite", set, vsm_set)

examples/coupled_realtime_visualization.jl

@@ -34,7 +34,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 set = Settings("system.yaml")
 set.profile_law = 3
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name="2plate_kite", set, vsm_set)
 sam = SymbolicAWEModel(set, sys)

examples/coupled_simple_lin_model.jl

@@ -27,7 +27,8 @@ update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
 
 set = Settings("system.yaml")
 vsm_set = VortexStepMethod.VSMSettings(
-    joinpath(get_data_path(), "vsm_settings.yaml"))
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
     system_name="2plate_kite", set, vsm_set)

examples/sam_tutorial.jl

@@ -69,7 +69,7 @@ end
 
 # --- STEP 3: Add a pulley ---
 
-push!(points, Point(22, [0, 0, set.l_tether + 5], DYNAMIC))
+push!(points, Point(22, [0, 0, set.l_tether + 5], DYNAMIC; extra_mass=0.1))
 push!(points, Point(23, [1, 0, set.l_tether + 5], STATIC))
 push!(segments, Segment(21, 21, 22,
     seg_stiffness, seg_damping, seg_diameter))
@@ -94,13 +94,26 @@ end
 
 # --- STEP 4: Add a kite ---
 
-vsm_wing = VortexStepMethod.Wing(set; prn=false)
+vsm_set = VortexStepMethod.VSMSettings(
+    joinpath(get_data_path(), "vsm_settings.yaml");
+    data_prefix=false)
+vsm_wing = VortexStepMethod.Wing(set, vsm_set; prn=false)
 vsm_aero = BodyAerodynamics([vsm_wing])
 vsm_solver = Solver(vsm_aero;
     solver_type=NONLIN, atol=2e-8, rtol=2e-8)
 wings = [SymbolicAWEModels.Wing(1, vsm_aero, vsm_wing,
     vsm_solver, [], I(3), [0.5, 0, set.l_tether + 6])]
 
+# WING-type points: 3 LE/TE pairs matching the 3 aero sections
+wing_z = set.l_tether + 6
+for (i, y) in enumerate([-1.0, 0.0, 1.0])
+    n = length(points)
+    push!(points, Point(n + 1, [-0.5, y, wing_z],
+        WING; wing=1, transform=1, extra_mass=0.1))
+    push!(points, Point(n + 2, [0.5, y, wing_z],
+        WING; wing=1, transform=1, extra_mass=0.1))
+end
+
 sys = SystemStructure("wing", set;
     points, segments, tethers, winches, pulleys,
     wings, transforms)

examples/static_load_2plate_kite.jl

@@ -7,7 +7,7 @@ kite structure and simulate a few steps under those loads.
 """
 
 using GLMakie
-using SymbolicAWEModels, KiteUtils
+using SymbolicAWEModels, VortexStepMethod, KiteUtils
 using LinearAlgebra
 using SymbolicAWEModels: Point
 
@@ -30,10 +30,16 @@ set_data_path(joinpath(pkg_root, "data", MODEL_NAME))
 
 struc_yaml = joinpath(get_data_path(),
                       "quat_struc_geometry.yaml")
+aero_yaml = joinpath(get_data_path(), "aero_geometry.yaml")
+update_aero_yaml_from_struc_yaml!(struc_yaml, aero_yaml)
+
 set = Settings("system.yaml")
+vsm_set = VSMSettings(joinpath(get_data_path(),
+    "vsm_settings.yaml"); data_prefix=false)
 
 sys = load_sys_struct_from_yaml(struc_yaml;
-    system_name=MODEL_NAME, set, aero_mode=AERO_NONE)
+    system_name=MODEL_NAME, set, vsm_set,
+    aero_mode=AERO_NONE)
 
 function apply_loads!(points, F)
     for (i, point) in enumerate(points)