remove hacky W world constructor

docs/src/examples/prescribed_pose.md

@@ -30,7 +30,7 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
+
 
 n = [1, 0, 0]
 AB = 146.5 / 1000
@@ -131,7 +131,7 @@ end
  rod_radius = 0.02
  end
  @components begin
- world = W()
+ world = World()
  mass = Body(m=ms, r_cm = 0.5DA*normalize([0, 0.2, 0.2*sin(t5)]))
  excited_suspension = ExcitedWheelAssembly(; rod_radius)
  prescribed_motion = Pose(; r = [0, 0.1 + 0.1sin(t), 0], R = RotXYZ(0, 0.5sin(t), 0))

docs/src/examples/space.md

@@ -23,11 +23,10 @@ using OrdinaryDiffEq
 
 t = Multibody.t
 D = Differential(t)
-W(;kwargs...) = Multibody.world
 
 @mtkmodel PointGrav begin
  @components begin
- world = W()
+ world = World()
  body1 = Body(
  m=1,
  I_11=0.1,

docs/src/examples/suspension.md

@@ -18,7 +18,6 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
 
 n = [1, 0, 0]
 AB = 146.5 / 1000
@@ -137,7 +136,7 @@ end
  dir = mirror ? -1 : 1
  end
  @components begin
- world = W()
+ world = World()
  mass = Body(m=ms, r_cm = 0.5DA*normalize([0, 0.2, 0.2*sin(t5)*dir]))
  excited_suspension = SuspensionWithExcitation(; suspension.spring=true, mirror, rod_radius)
  body_upright = Prismatic(n = [0, 1, 0], render = false, state_priority=1000)

docs/src/examples/swing.md

@@ -18,8 +18,6 @@ t = Multibody.t
 D = Differential(t)
 world = Multibody.world
 
-W(args...; kwargs...) = Multibody.world
-
 @mtkmodel SwingRope begin
  @components begin
  frame_a = Frame()
@@ -44,7 +42,7 @@ end
  w = 0.4
  end
  @components begin
- world = W()
+ world = World()
  upper_trans1 = FixedTranslation(r=[-w/2, 0, 0])
  rope1 = SwingRope(rope.r=[-w/2, h, -w/2])
  body = Body(m=6, isroot=true, I_11=0.1, I_22=0.1, I_33=0.1)
@@ -91,7 +89,7 @@ Next, we create the full swing assembly
  w = 0.4
  end
  @components begin
- world = W()
+ world = World()
  upper_trans1 = FixedTranslation(r=[-w/2, 0, 0])
  upper_trans2 = FixedTranslation(r=[ w/2, 0, 0])
  rope1 = SwingRope(rope.r=[-w/2, -h, -w/2])

docs/src/examples/wheel.md

@@ -31,11 +31,10 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
 
 @mtkmodel WheelInWorld begin
  @components begin
- world = W()
+ world = World()
  wheel = RollingWheel(
  radius = 0.3,
  m = 2,
@@ -104,7 +103,7 @@ The slip velocity is defined such that when the wheel is moving with positive ve
 ```@example WHEEL
 @mtkmodel SlipWheelInWorld begin
  @components begin
- world = W()
+ world = World()
  wheel = SlippingWheel(
  radius = 0.3,
  m = 2,
@@ -164,7 +163,7 @@ A [`RollingWheelSet`](@ref) is comprised out of two wheels mounted on a common a
  wheels = RollingWheelSet(radius=0.1, m_wheel=0.5, I_axis=0.01, I_long=0.02, track=0.5, state_priority=100)
  bar = FixedTranslation(r = [0.2, 0, 0])
  body = Body(m=0.01, state_priority=1)
- world = W()
+ world = World()
  end
  @equations begin
  connect(sine1.output, torque1.tau)
@@ -216,7 +215,7 @@ tire_black = [0.1, 0.1, 0.1, 1]
  g=0
  end
  @components begin
- world = W()
+ world = World()
 
  sine1 = Blocks.Sine(frequency=1, amplitude=150)
  sine2 = Blocks.Sine(frequency=1, amplitude=150, phase=pi/6)

examples/JuliaSim_logo.jl

@@ -3,7 +3,6 @@ using Multibody, JuliaSimCompiler
 using OrdinaryDiffEq # Contains the ODE solver we will use
 using Plots
 t = Multibody.t
-W(args...; kwargs...) = Multibody.world
 
 
 JULIASIM_PURPLE = [87,87,219,255.0f0]./255 # RGBA

ext/URDF.jl

@@ -310,15 +310,14 @@ function Multibody.urdf2multibody(filename::AbstractString; extras=false, out=no
  """
  using ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq, Plots
  import ModelingToolkit: t_nounits as t, D_nounits as D
- W(args...; kwargs...) = Multibody.world
  """
  else 
  ""
  end
  s = s * """
  @mtkmodel $(modelname) begin
  @components begin
- world = W()
+ world = World()
  $(join(bodies, "\n"))
  $(join(joints, "\n"))
  end

test/runtests.jl

@@ -8,7 +8,7 @@ t = Multibody.t
 D = Differential(t)
 doplot() = false
 world = Multibody.world
-W(args...; kwargs...) = Multibody.world
+
 
 @testset "world" begin
  @info "Testing world"
@@ -388,7 +388,7 @@ end
 
 @testset "Spring damper system" begin
 systems = @named begin
- world = W()
+ world = World()
  body1 = Body(; m = 1, isroot = true, r_cm = [0.0, 0, 0], I_11 = 0.1, I_22 = 0.1,
  I_33 = 0.1, r_0 = [0.3, -0.2, 0], quat=false) # This is root since there is no joint parallel to the spring leading to this body
  body2 = Body(; m = 1, isroot = false, r_cm = [0.0, -0.2, 0]) # This is not root since there is a joint parallel to the spring leading to this body
@@ -565,7 +565,7 @@ end
 using LinearAlgebra
 @mtkmodel PlanarTest begin
  @components begin
- world = W()
+ world = World()
  planar = Planar(n=[0,0,1], n_x=[1,0,0])
  force = Force()
  body = Body(m=1)
@@ -1054,7 +1054,7 @@ using LinearAlgebra
  world = Multibody.world
  @mtkmodel CylinderPend begin
  @components begin
- world = W()
+ world = World()
  body = BodyCylinder(r=[1,2,3], diameter=0.1)
  joint = Revolute()
  end
@@ -1102,7 +1102,7 @@ using LinearAlgebra
  @info "Testing BodyBox"
  @mtkmodel BoxPend begin
  @components begin
- world = W()
+ world = World()
  body = Multibody.BodyBox(r=[0.1, 1, 0.2], r_shape=[0, 0, 0], width=0.1, height=0.3, inner_width=0.05)
  joint = Revolute()
  end
@@ -1217,7 +1217,7 @@ sol3 = solve(prob, FBDF(), abstol=1e-8, reltol=1e-8)
 
 @mtkmodel TestSphericalSpherical begin
  @components begin
- world = W()
+ world = World()
  ss = SphericalSpherical(r_0 = [1, 0, 0], m = 1, kinematic_constraint=false)
  ss2 = BodyShape(r = [0, 0, 1], m = 1, isroot=true)
  s = Spherical()
@@ -1248,7 +1248,7 @@ sol = solve(prob, Rodas4())
 
 @mtkmodel TestSphericalSpherical begin
  @components begin
- world = W()
+ world = World()
  ss = UniversalSpherical(rRod_ia = [1, 0, 0], kinematic_constraint=false, sphere_diameter=0.3)
  ss2 = BodyShape(r = [0, 0, 1], m = 1, isroot=true)
  s = Spherical()
@@ -1291,7 +1291,7 @@ end
 # Test cylindrical joint
 @mtkmodel CylinderTest begin
  @components begin
- world = W()
+ world = World()
  cyl = Cylindrical(n = [0, 1, 0])
  # spring = Spring(c = 1)
  body = Body(state_priority=0)
@@ -1352,7 +1352,7 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Transl
  jr = 0.03, [description = "Radius of revolute joint"]
  end
  @components begin
- world = W()
+ world = World()
 
  r1 = Revolute(; n, radius=jr, color=jc)
  r2 = Revolute(; n, radius=jr, color=jc)
@@ -1482,7 +1482,7 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Transl
  rRod2_ib = BC*normalize([0, 0.2, 0])
  end
  @components begin
- world = W()
+ world = World()
 
  r123 = JointRRR(n_a = n, n_b = n, rRod1_ia, rRod2_ib, rod_radius=0.02, rod_color=jc)
  r2 = Revolute(; n, radius=jr, color=jc)

test/test_JointUSR_RRR.jl

@@ -8,7 +8,7 @@ using LinearAlgebra
 using JuliaSimCompiler
 
 world = Multibody.world
-W(args...; kwargs...) = Multibody.world
+
 t = Multibody.t
 D = Differential(t)
 
@@ -17,7 +17,7 @@ D = Differential(t)
 # ==============================================================================
 @mtkmodel TestUSR begin
  @components begin
- world = W()
+ world = World()
  j1 = JointUSR(positive_branch=true, use_arrays=false)
  fixed = FixedTranslation(r=[1,0,0])
  b1 = Body(m=1)
@@ -48,7 +48,7 @@ sol = solve(prob, FBDF(autodiff=true))
 # ==============================================================================
 @mtkmodel TestRRR begin
  @components begin
- world = W()
+ world = World()
  j1 = JointRRR(positive_branch=true)
  fixed = FixedTranslation(r=[1,0,0])
  b1 = Body(m=1)

test/test_orientation_getters.jl

@@ -2,7 +2,7 @@ using Test
 import ModelingToolkitStandardLibrary.Mechanical.Rotational
 @mtkmodel FurutaPendulum begin
  @components begin
- world = W()
+ world = World()
  shoulder_joint = Revolute(n = [0, 1, 0], isroot = true, axisflange = true)
  elbow_joint = Revolute(n = [0, 0, 1], isroot = true, axisflange = true, phi0=0.1)
  upper_arm = BodyShape(; m = 1, isroot = false, r = [0, 0, 0.6], radius=0.04)

test/test_urdf.jl

@@ -11,7 +11,7 @@ include("doublependulum.jl")
 
 using ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq#, Plots
 import ModelingToolkit: t_nounits as t, D_nounits as D
-W(args...; kwargs...) = Multibody.world
+
 @named model = DoublePendulum()
 model = complete(model)
 ssys = structural_simplify(IRSystem(model))

test/test_wheels.jl

@@ -8,7 +8,7 @@ using LinearAlgebra
 @mtkmodel WheelInWorld begin
  @components begin
  # world = World(n=[0,0,-1])
- world = W()
+ world = World()
  wheel = RollingWheel(radius = 0.3, m = 2, I_axis = 0.06,
  I_long = 0.12,
  x0 = 0.2,
@@ -59,7 +59,7 @@ using LinearAlgebra
  end
  @components begin
  # world = World(n=[0,0,-1])
- world = W()
+ world = World()
  wheel = RollingWheel(; radius = 0.3, m = 2, I_axis = 0.06,
  I_long = 0.12,
  x0 = 0.2,
@@ -123,7 +123,7 @@ dd = diff(sol(tv, idxs=worldwheel.wheel.wheeljoint.der_angles[2]).u) # angular a
 import ModelingToolkitStandardLibrary.Blocks
 @mtkmodel WheelWithAxis begin
  @components begin
- world = W()
+ world = World()
  prismatic = Prismatic(n = [0,1,0])
  world_axis = Revolute(n = [0,1,0], iscut=false, state_priority=100, w0=10)
  # world_axis = RevolutePlanarLoopConstraint(n = [0,1,0])
@@ -168,7 +168,7 @@ end
  wheels = RollingWheelSet(radius=0.1, m_wheel=0.5, I_axis=0.01, I_long=0.02, track=0.5, state_priority=100)
  bar = FixedTranslation(r = [0.2, 0, 0])
  body = Body(m=0.01, state_priority=1)
- world = W()
+ world = World()
  end
  @equations begin
  connect(sine1.output, torque1.tau)