Merge pull request #122 from ModiaSim/Release0.12.1

Release0.12.1

Author: MartinOtter

Manifest.toml

@@ -1,7 +1,7 @@
 authors = ["Andrea Neumayr <andrea.neumayr@dlr.de>", "Martin Otter <Martin.Otter@dlr.de>", "Gerhard Hippmann <gerhard.hippmann@dlr.de>"]
 name = "Modia3D"
 uuid = "07f2c1e0-90b0-56cf-bda7-b44b56e34eed"
-version = "0.12.0"
+version = "0.12.1"
 
 [compat]
 Colors = "0.12, 0.11, 0.10"
@@ -12,7 +12,7 @@ HTTP = "0.9"
 JSON = "0.21"
 Measurements = "2"
 MeshIO = "0.4.10"
-Modia = "0.10.0"
+Modia = "0.12.0"
 MonteCarloMeasurements = "1"
 OrderedCollections = "1"
 Reexport = "1.0"

Project.toml

@@ -92,6 +92,16 @@ julia -JModia3D_sysimage.so  (otherwise)
 | [8] |*[Modelling and Simulation of Physical Systems with Dynamically Changing Degrees of Freedom](https://doi.org/10.3390/electronics12030500)*| Electronics 2023, 12(3), 500 | [10.3390/electronics12030500](https://doi.org/10.3390/electronics12030500) |
 
 ## Release Notes
+
+### Version 0.12.1
+
+- Adapted to Modia 0.12.0 (arguments of buildFunction in ModiaInterface had been changed, 
+  as well as function names to define/access variables of built-in components)
+- Absolute position (`r_abs`) and orientation (`R_abs`) of visible shapes are stored in the result
+  data structure and can be plotted (see Modia3D/test/Basid/Pendulum.jl, Modia3D/test/Segmented/TwoStageRocket3D.jl)
+- Manifest.toml file removed
+
+
 ### Version 0.12.0
 - Support for variable-structure systems where variables (states) can appear and disappear during simulation
     - A simulation run is partitioned into phases that are called segments or modes (multi-mode modeling)

docs/src/index.md

@@ -201,7 +201,7 @@ function torqueFromMoments(largeAngles::Bool, moments::SVector{3,F}, sico::SMatr
 end
 
 
-function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force::Bushing{F})::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function initializeForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::Bushing{F})::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
     force.obj1.hasForceElement = true
     force.obj2.hasForceElement = true
 
@@ -220,7 +220,7 @@ function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force:
     return nothing
 end
 
-function evaluateForceElement(model::Modia.SimulationModel{F,TimeType}, force::Bushing{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function evaluateForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::Bushing{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
     R12 = measFrameRotation(force.obj2; frameOrig=force.obj1)
     r12 = measFramePosition(force.obj2; frameOrig=force.obj1, frameCoord=force.obj1)
     w12 = measFrameRotVelocity(force.obj2; frameOrig=force.obj1, frameCoord=force.obj1)
@@ -245,17 +245,17 @@ function evaluateForceElement(model::Modia.SimulationModel{F,TimeType}, force::B
     applyFrameTorquePair!(force.obj2, force.obj1, t12; frameCoord=force.obj1)
 
     if Modia.storeResults(model)
-        Modia.add_w_segmented_value!(model, force.translationResultIndex, r12)
-        Modia.add_w_segmented_value!(model, force.rotationResultIndex, ang)
-        Modia.add_w_segmented_value!(model, force.velocityResultIndex, v12)
-        Modia.add_w_segmented_value!(model, force.rotationVelocityResultIndex, angd)
-        Modia.add_w_segmented_value!(model, force.springForceResultIndex, fc)
-        Modia.add_w_segmented_value!(model, force.springTorqueResultIndex, mc)
-        Modia.add_w_segmented_value!(model, force.damperForceResultIndex, fd)
-        Modia.add_w_segmented_value!(model, force.damperTorqueResultIndex, md)
-        Modia.add_w_segmented_value!(model, force.torqueResultIndex, mom)
-        Modia.add_w_segmented_value!(model, force.forceVectorResultIndex, -f12)
-        Modia.add_w_segmented_value!(model, force.torqueVectorResultIndex, -t12)
+        Modia.copy_w_segmented_value_to_result(model, force.translationResultIndex, r12)
+        Modia.copy_w_segmented_value_to_result(model, force.rotationResultIndex, ang)
+        Modia.copy_w_segmented_value_to_result(model, force.velocityResultIndex, v12)
+        Modia.copy_w_segmented_value_to_result(model, force.rotationVelocityResultIndex, angd)
+        Modia.copy_w_segmented_value_to_result(model, force.springForceResultIndex, fc)
+        Modia.copy_w_segmented_value_to_result(model, force.springTorqueResultIndex, mc)
+        Modia.copy_w_segmented_value_to_result(model, force.damperForceResultIndex, fd)
+        Modia.copy_w_segmented_value_to_result(model, force.damperTorqueResultIndex, md)
+        Modia.copy_w_segmented_value_to_result(model, force.torqueResultIndex, mom)
+        Modia.copy_w_segmented_value_to_result(model, force.forceVectorResultIndex, -f12)
+        Modia.copy_w_segmented_value_to_result(model, force.torqueVectorResultIndex, -t12)
     end
 
     return nothing

src/Composition/ForceElements/Bushing.jl

@@ -83,7 +83,7 @@ end
 SpringDamperPtP(; kwargs...) = SpringDamperPtP{Float64}(; kwargs...)
 
 
-function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force::SpringDamperPtP{F}) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function initializeForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::SpringDamperPtP{F}) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
     force.obj1.hasForceElement = true
     force.obj2.hasForceElement = true
 
@@ -98,7 +98,7 @@ function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force:
     return nothing
 end
 
-function evaluateForceElement(model::Modia.SimulationModel{F,TimeType}, force::SpringDamperPtP{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function evaluateForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::SpringDamperPtP{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
     (pos, norm) = measFrameDistance(force.obj2; frameOrig=force.obj1)
     vel = measFrameDistVelocity(force.obj2; frameOrig=force.obj1)
 
@@ -111,13 +111,13 @@ function evaluateForceElement(model::Modia.SimulationModel{F,TimeType}, force::S
     applyFrameForcePair!(force.obj2, force.obj1, f12; frameCoord=force.obj1)
 
     if Modia.storeResults(model)
-        Modia.add_w_segmented_value!(model, force.distanceResultIndex, pos)
-        Modia.add_w_segmented_value!(model, force.deflectionResultIndex, defl)
-        Modia.add_w_segmented_value!(model, force.velocityResultIndex, vel)
-        Modia.add_w_segmented_value!(model, force.springForceResultIndex, fc)
-        Modia.add_w_segmented_value!(model, force.damperForceResultIndex, fd)
-        Modia.add_w_segmented_value!(model, force.forceResultIndex, frc)
-        Modia.add_w_segmented_value!(model, force.forceVectorResultIndex, -f12)
+        Modia.copy_w_segmented_value_to_result(model, force.distanceResultIndex, pos)
+        Modia.copy_w_segmented_value_to_result(model, force.deflectionResultIndex, defl)
+        Modia.copy_w_segmented_value_to_result(model, force.velocityResultIndex, vel)
+        Modia.copy_w_segmented_value_to_result(model, force.springForceResultIndex, fc)
+        Modia.copy_w_segmented_value_to_result(model, force.damperForceResultIndex, fd)
+        Modia.copy_w_segmented_value_to_result(model, force.forceResultIndex, frc)
+        Modia.copy_w_segmented_value_to_result(model, force.forceVectorResultIndex, -f12)
     end
 
     return nothing

src/Composition/ForceElements/SpringDamperPtP.jl

@@ -44,7 +44,7 @@ end
 WorldForce(; kwargs...) = WorldForce{Float64}(; kwargs...)
 
 
-function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force::WorldForce{F})::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function initializeForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::WorldForce{F})::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
 
     force.objectApply.hasForceElement = true
     if !isnothing(force.objectCoord)
@@ -56,14 +56,14 @@ function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force:
     return nothing
 end
 
-function evaluateForceElement(model::Modia.SimulationModel{F,TimeType}, force::WorldForce{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function evaluateForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::WorldForce{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
 
     forceVector = force.forceFunction(; time=time, objectApply=force.objectApply, objectCoord=force.objectCoord)
 
     applyFrameForce!(force.objectApply, forceVector; frameCoord=force.objectCoord)
 
     if Modia.storeResults(model)
-        Modia.add_w_segmented_value!(model, force.forceVectorResultIndex, forceVector)
+        Modia.copy_w_segmented_value_to_result(model, force.forceVectorResultIndex, forceVector)
     end
 
     return nothing

src/Composition/ForceElements/WorldForce.jl

@@ -44,7 +44,7 @@ end
 WorldTorque(; kwargs...) = WorldTorque{Float64}(; kwargs...)
 
 
-function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force::WorldTorque{F})::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function initializeForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::WorldTorque{F})::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
 
     force.objectApply.hasForceElement = true
     if !isnothing(force.objectCoord)
@@ -56,14 +56,14 @@ function initializeForceElement(model::Modia.SimulationModel{F,TimeType}, force:
     return nothing
 end
 
-function evaluateForceElement(model::Modia.SimulationModel{F,TimeType}, force::WorldTorque{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function evaluateForceElement(model::Modia.InstantiatedModel{F,TimeType}, force::WorldTorque{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
 
     torqueVector = force.torqueFunction(; time=time, objectApply=force.objectApply, objectCoord=force.objectCoord)
 
     applyFrameTorque!(force.objectApply, torqueVector; frameCoord=force.objectCoord)
 
     if Modia.storeResults(model)
-        Modia.add_w_segmented_value!(model, force.torqueVectorResultIndex, torqueVector)
+        Modia.copy_w_segmented_value_to_result(model, force.torqueVectorResultIndex, torqueVector)
     end
 
     return nothing

src/Composition/ForceElements/WorldTorque.jl

@@ -69,7 +69,7 @@ export isFree, isNotFree, changeJointFromFreeMotionToFix!, changeJointFromFixToF
 
 export fullName, instanceName
 
-# export updateSimulationModel!
+# export updateInstantiatedModel!
 
 export rot123fromR, rot132fromR, Rfromrot123, Rfromrot132
 

src/Composition/_module.jl

@@ -4,7 +4,7 @@
 # between objs with mpr algorithm, and use them as zero-crossing functions
 # (see file ...\ContactDetectionMPR\handler.jl)
 # after computing all distances between colliding shapes response calculations are done
-function computeContactForcesAndTorques(sim::Modia.SimulationModel, scene, world, time, file)
+function computeContactForcesAndTorques(sim::Modia.InstantiatedModel, scene, world, time, file)
     if typeof(scene.options.contactDetection) <: Modia3D.ContactDetectionMPR_handler
         ch::Modia3D.ContactDetectionMPR_handler = scene.options.contactDetection
         # Compute signed distances of all contact shapes during zero-crossing computation
@@ -39,7 +39,7 @@ end
 # (see file ...\Composition\responseCalculation\elasticCollisionResponse.jl)
 # further, at an event simulation status is updated, contact material is replaced
 # and the actual contactDict is stored
-function dealWithContacts!(sim::Modia.SimulationModel{F, T}, scene::Scene{F}, ch::Composition.ContactDetectionMPR_handler{M,F}, world::Composition.Object3D{F}, time::Float64, file::Nothing)::Nothing where {F <: Modia3D.VarFloatType, T, M}
+function dealWithContacts!(sim::Modia.InstantiatedModel{F, T}, scene::Scene{F}, ch::Composition.ContactDetectionMPR_handler{M,F}, world::Composition.Object3D{F}, time::Float64, file::Nothing)::Nothing where {F <: Modia3D.VarFloatType, T, M}
 
     simh::Modia.EventHandler{F,T} = sim.eventHandler
     f1::SVector{3,F}=Modia3D.ZeroVector3D(F)

src/Composition/dynamicCollision.jl

@@ -105,12 +105,12 @@ end
 
 
 """
-    initSegment_Model3D!(partiallyInstantiatedModel::Modia.SimulationModel,
+    initSegment_Model3D!(partiallyInstantiatedModel::Modia.InstantiatedModel,
                          modelPath::String, ID, parameters::AbstractDict; log=false)
 
 Called once before initialization of a new simulation segment to instantiate/re-initialize a Model3D model
 """
-function initSegment_Model3D!(partiallyInstantiatedModel::Modia.SimulationModel{F,TimeType},
+function initSegment_Model3D!(partiallyInstantiatedModel::Modia.InstantiatedModel{F,TimeType},
                               modelPath::String, ID, parameters::AbstractDict; log=false)::Nothing where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
     TimerOutputs.@timeit partiallyInstantiatedModel.timer "Modia3D_0 initSegment_Model3D!" begin
         if log
@@ -174,10 +174,23 @@ function initSegment_Model3D!(partiallyInstantiatedModel::Modia.SimulationModel{
             zStartIndex = 0
         end
 
+        # objIndices[i,1]: Index of r_abs of Object3D i
+        #           [i,2]: Index of R_abs of Object3D i
+        objIndices = Matrix{Int}(undef, length(scene.updateVisuElements), 2)
+        for (i,obj) in enumerate(scene.updateVisuElements)
+            if typeof(obj.feature) == Modia3D.Composition.EmptyObject3DFeature
+                objIndices[i,1] = 0
+                objIndices[i,2] = 0
+            else
+                objIndices[i,1] = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, obj.path*".r_abs", Modia3D.ZeroVector3D(F), "m")
+                objIndices[i,2] = Modia.new_w_segmented_variable!(partiallyInstantiatedModel, obj.path*".R_abs", Modia3D.NullRotation(F), "")   
+            end
+        end      
+        
         mbsBuild.mbs = MultibodyData{F,TimeType}(partiallyInstantiatedModel, modelPath, world, scene,
-                                                revoluteObjects, prismaticObjects, freeMotionObjects, hiddenJointObjects,
-                                                mbsBuild.revoluteIndices, mbsBuild.prismaticIndices, mbsBuild.freeMotionIndices,
-                                                zStartIndex, nz)
+                                                 revoluteObjects, prismaticObjects, freeMotionObjects, hiddenJointObjects,
+                                                 mbsBuild.revoluteIndices, mbsBuild.prismaticIndices, mbsBuild.freeMotionIndices,
+                                                 objIndices, zStartIndex, nz)
         parameters[:qdd_hidden] = zeros(F, length(mbsBuild.mbs.hiddenGenForces))
 
         if log
@@ -215,7 +228,7 @@ Open Model3D:
 - Copy der(r):=v and der(rot):= f(w) into hidden derivatives.
 - Return mbs.
 """
-function openModel3D!(instantiatedModel::Modia.SimulationModel{F,TimeType}, modelPath::String, x::AbstractVector, time::TimeType)::MultibodyData{F,TimeType} where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+function openModel3D!(instantiatedModel::Modia.InstantiatedModel{F,TimeType}, modelPath::String, x::AbstractVector, time::TimeType)::MultibodyData{F,TimeType} where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
     # println("bin in openModel3D ", instantiatedModel.eventHandler.restart)
     mbsBuild::MultibodyBuild{F,TimeType} = instantiatedModel.buildDict[modelPath]
 
@@ -514,11 +527,17 @@ function computeGeneralizedForces!(mbs::MultibodyData{F,TimeType}, qdd_hidden::V
             TimerOutputs.@timeit instantiatedModel.timer "Modia3D_3" begin
                 # objects can have interactionManner (need to rename updateVisuElements)
                 if scene.options.useOptimizedStructure
-                    for obj in scene.updateVisuElements
+                    objIndices = mbs.objIndices
+                    for (i,obj) in enumerate(scene.updateVisuElements)
                         parent = obj.parent
                         obj.r_abs = obj.r_rel ≡ Modia3D.ZeroVector3D(F) ? parent.r_abs : parent.r_abs + parent.R_abs'*obj.r_rel
                         obj.R_abs = obj.R_rel ≡ Modia3D.NullRotation(F) ? parent.R_abs : obj.R_rel*parent.R_abs
 
+                        if objIndices[i,1] > 0
+                            Modia.copy_w_segmented_value_to_result(instantiatedModel, objIndices[i,1], obj.r_abs)
+                            Modia.copy_w_segmented_value_to_result(instantiatedModel, objIndices[i,2], obj.R_abs)
+                        end
+            
                         # is executed only if an internal Object3D called
                         if length( obj.visualizationFrame ) == 1
                             obj.visualizationFrame[1].r_abs = obj.r_abs