build based on 67f745c

dev/.documenter-siteinfo.json

@@ -1 +1 @@
-{"documenter":{"julia_version":"1.10.4","generation_timestamp":"2024-07-04T13:01:53","documenter_version":"1.4.1"}}
+{"documenter":{"julia_version":"1.10.4","generation_timestamp":"2024-07-07T06:04:45","documenter_version":"1.4.1"}}

dev/examples/free_motion/index.html

@@ -28,7 +28,7 @@
 
 # Plot analytical solution
 tvec = 0:0.1:sol.t[end]
-plot!(tvec, -9.81/2 .* tvec .^ 2, lab=&quot;Analytical solution&quot;)</code></pre><img src="1e09e0c8.svg" alt="Example block output"/><p>The figure indicates that the body is falling freely, experiencing a constant acceleration of -9.81 m/s² in the <span>$y$</span> direction, corresponding to the gravity parameters of the <code>world</code>:</p><pre class="documenter-example-output"><code class="nohighlight hljs ansi">Model world with 12 (18) equations
+plot!(tvec, -9.81/2 .* tvec .^ 2, lab=&quot;Analytical solution&quot;)</code></pre><img src="09b9ee0a.svg" alt="Example block output"/><p>The figure indicates that the body is falling freely, experiencing a constant acceleration of -9.81 m/s² in the <span>$y$</span> direction, corresponding to the gravity parameters of the <code>world</code>:</p><pre class="documenter-example-output"><code class="nohighlight hljs ansi">Model world with 12 (18) equations
 Unknowns (9):
  (frame_b₊r_0(t))[1] [defaults to 0.0]: Position vector directed from the origin of the world frame to the connector frame origin, resolved in world frame
  (frame_b₊r_0(t))[2] [defaults to 0.0]: Position vector directed from the origin of the world frame to the connector frame origin, resolved in world frame
@@ -81,5 +81,5 @@
 @assert SciMLBase.successful_retcode(sol)
 
 plot(sol, idxs = [body.r_0...])
-# plot(sol, idxs = [body.body.Q...])</code></pre><img src="fbf37e7f.svg" alt="Example block output"/><pre><code class="language-julia hljs">import GLMakie
-Multibody.render(model, sol, filename = &quot;free_body.gif&quot;)</code></pre><p><img src="../free_body.gif" alt="free_body"/></p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../gearbox/">« Gearbox</a><a class="docs-footer-nextpage" href="../kinematic_loops/">Kinematic loops »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Thursday 4 July 2024 13:01">Thursday 4 July 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+# plot(sol, idxs = [body.body.Q...])</code></pre><img src="9ceac5af.svg" alt="Example block output"/><pre><code class="language-julia hljs">import GLMakie
+Multibody.render(model, sol, filename = &quot;free_body.gif&quot;)</code></pre><p><img src="../free_body.gif" alt="free_body"/></p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../gearbox/">« Gearbox</a><a class="docs-footer-nextpage" href="../kinematic_loops/">Kinematic loops »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Sunday 7 July 2024 06:04">Sunday 7 July 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

dev/examples/gearbox/index.html

@@ -52,4 +52,4 @@
  gearConstraint.actuatedRevolute_a.phi
  gearConstraint.phi_b
  inertia1.phi / inertia2.phi # One can plot arbitrary expressions of variables! In this case, we plot the ratio between the two angles.
-], layout=3, sp=[1 2 1 2 3], framestyle=:zerolines)</code></pre><img src="862feadd.svg" alt="Example block output"/><p>The plot indicates that the ratio between the angles of inertia 1 and 2 is 10, as expected, and that the same ratio holds between the two sides of the 3D gear constraint.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../spherical_pendulum/">« Spherical pendulum</a><a class="docs-footer-nextpage" href="../free_motion/">Free motions »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Thursday 4 July 2024 13:01">Thursday 4 July 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+], layout=3, sp=[1 2 1 2 3], framestyle=:zerolines)</code></pre><img src="e4096737.svg" alt="Example block output"/><p>The plot indicates that the ratio between the angles of inertia 1 and 2 is 10, as expected, and that the same ratio holds between the two sides of the 3D gear constraint.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../spherical_pendulum/">« Spherical pendulum</a><a class="docs-footer-nextpage" href="../free_motion/">Free motions »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Sunday 7 July 2024 06:04">Sunday 7 July 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>

dev/examples/gyroscopic_effects/index.html

@@ -33,8 +33,8 @@
 
 prob = ODEProblem(ssys, [model.world.g => 9.80665, model.revolute.w => 10], (0, 5))
 
-sol = solve(prob, Rodas5P(), abstol=1e-7, reltol=1e-7);
+sol = solve(prob, FBDF(), abstol=1e-8, reltol=1e-8);
 @assert SciMLBase.successful_retcode(sol)
 
 import GLMakie
-Multibody.render(model, sol; x=1, z=1, filename = &quot;gyro.gif&quot;) # Use &quot;gyro.mp4&quot; for a video file</code></pre><p><img src="../gyro.gif" alt="animation"/></p><p>Try setting <code>model.revolute.w =&gt; 0</code> and plot this variable using <code>plot(sol, idxs=model.revolute.w)</code> and you will notice that the swinging of the pendulum induces a rotation around this joint, even if it has no rotational velocity from the start.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../space/">« Bodies in space</a><a class="docs-footer-nextpage" href="../../rotations/">Rotations and orientation »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Thursday 4 July 2024 13:01">Thursday 4 July 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>
+Multibody.render(model, sol; x=1, z=1, filename = &quot;gyro.gif&quot;) # Use &quot;gyro.mp4&quot; for a video file</code></pre><p><img src="../gyro.gif" alt="animation"/></p><p>Try setting <code>model.revolute.w =&gt; 0</code> and plot this variable using <code>plot(sol, idxs=model.revolute.w)</code> and you will notice that the swinging of the pendulum induces a rotation around this joint, even if it has no rotational velocity from the start.</p></article><nav class="docs-footer"><a class="docs-footer-prevpage" href="../space/">« Bodies in space</a><a class="docs-footer-nextpage" href="../../rotations/">Rotations and orientation »</a><div class="flexbox-break"></div><p class="footer-message">Powered by <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> and the <a href="https://julialang.org/">Julia Programming Language</a>.</p></nav></div><div class="modal" id="documenter-settings"><div class="modal-background"></div><div class="modal-card"><header class="modal-card-head"><p class="modal-card-title">Settings</p><button class="delete"></button></header><section class="modal-card-body"><p><label class="label">Theme</label><div class="select"><select id="documenter-themepicker"><option value="auto">Automatic (OS)</option><option value="documenter-light">documenter-light</option><option value="documenter-dark">documenter-dark</option></select></div></p><hr/><p>This document was generated with <a href="https://github.com/JuliaDocs/Documenter.jl">Documenter.jl</a> version 1.4.1 on <span class="colophon-date" title="Sunday 7 July 2024 06:04">Sunday 7 July 2024</span>. Using Julia version 1.10.4.</p></section><footer class="modal-card-foot"></footer></div></div></div></body></html>