update logo to use wheel and spherical joints (#125)

docs/src/index.md

@@ -22,52 +22,61 @@ radius_large = length_scale*0.3
 @mtkmodel Logo begin
  @components begin
  world = World(render=false)
- revl = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, axisflange=true)
- revl2 = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, axisflange=true)
+
+ # revl = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, axisflange=true)
+ revl = Spherical(; radius = radius_large, color=JULIASIM_PURPLE, state=true, phid=[3, 3, 3])
+ move_up = FixedTranslation(r=[0, radius_large, 0], render=false) # To shift revolute up with radius of wheel
+
+ # revl2 = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, axisflange=true)
+
+ revl2 = RollingWheel(; radius = radius_large, color=JULIASIM_PURPLE, m=1, I_axis=0.1, I_long=0.1, x0=0, state_priority=1000)
+
  revr = Revolute(; radius = radius_small, color=JULIASIM_PURPLE, axisflange=true)
  bodyl = Body(m=1, radius = radius_small, color=JULIASIM_PURPLE)
- bodyr = Body(m=1, radius = radius_large, color=JULIASIM_PURPLE)
+ bodyr = Body(m=1, radius = radius_large, color=JULIASIM_PURPLE, state_priority=-1)
  bar_top = FixedTranslation(r=length_scale*[1, 0.05, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
  barl = FixedTranslation(r=length_scale*[1, -1, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
  barr = FixedTranslation(r=1.1*length_scale*[-1, -1, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
 
- damperl = Rotational.Damper(d=0.1)
- damperl2 = Rotational.Damper(d=0.01)
+ # damperl = Rotational.Damper(d=0.1)
+ # damperl2 = Rotational.Damper(d=0.01)
  damperr = Rotational.Damper(d=0.01)
  end
  @equations begin
- connect(revl.frame_a, world.frame_b)
+ connect(world.frame_b, move_up.frame_a)
+ connect(move_up.frame_b, revl.frame_a)
 
  connect(revl.frame_b, barl.frame_a)
  connect(barl.frame_b, bodyl.frame_a)
 
- connect(world.frame_b, revl2.frame_a)
- connect(revl2.frame_b, bar_top.frame_a)
+ # connect(world.frame_b, revl2.frame_a)
+ connect(revl2.frame_a, bar_top.frame_a)
  connect(bar_top.frame_b, revr.frame_a)
  connect(revr.frame_b, barr.frame_a)
  connect(barr.frame_b, bodyr.frame_a)
 
- connect(revl.axis, damperl.flange_a)
- connect(revl2.axis, damperl2.flange_a)
+ # connect(revl.axis, damperl.flange_a)
+ # connect(revl2.axis, damperl2.flange_a)
  connect(revr.axis, damperr.flange_a)
 
- connect(revl.support, damperl.flange_b)
- connect(revl2.support, damperl2.flange_b)
+ # connect(revl.support, damperl.flange_b)
+ # connect(revl2.support, damperl2.flange_b)
  connect(revr.support, damperr.flange_b)
  end
 end
 
 @named logo = Logo()
 logo = complete(logo)
 ssys = structural_simplify(multibody(logo))
+
 prob = ODEProblem(ssys, [], (0.0, 3.51))
-sol = solve(prob, Rodas5P())
+sol = solve(prob, Tsit5())
 # Plots.plot(sol)
 
 import GLMakie
 framerate = 30
-timevec = [zeros(30); range(sol.t[1], sol.t[end], step=1/framerate)] |> reverse
-render(logo, sol, timevec; z=-2.5, x=0, y=-0.5, lookat=[0.2,-0.5, 0], filename="JuliaSim_logo.gif", framerate)
+timevec = [zeros(40); range(sol.t[1], sol.t[end], step=1/framerate)] |> reverse
+render(logo, sol, timevec; z=-2.5, x=0, y=-0.5, lookat=[0.2,-0.5+radius_large, 0], filename="JuliaSim_logo.gif", framerate)
 ```
 ![animated logo](JuliaSim_logo.gif)
 

src/frames.jl

@@ -1,6 +1,7 @@
 @connector function Frame(; name, varw = false, r_0 = zeros(3), render=false, length=1.0, radius=0.1)
  @variables r_0(t)[1:3]=r_0 [
  description = "Position vector directed from the origin of the world frame to the connector frame origin, resolved in world frame",
+ state_priority=-1,
  ]
  @variables f(t)[1:3] [
  connect = Flow,

src/wheels.jl

@@ -52,14 +52,17 @@ this frame.
 # Connector frames
 - `frame_a`: Frame for the wheel joint
 """
-@component function RollingWheelJoint(; name, radius, angles = zeros(3), der_angles=zeros(3), x0=0, y0 = radius, z0=0, sequence = [2, 3, 1], iscut=false, surface = nothing)
- @parameters begin radius = radius, [description = "Radius of the wheel"] end
+@component function RollingWheelJoint(; name, radius, angles = zeros(3), der_angles=zeros(3), x0=0, y0 = radius, z0=0, sequence = [2, 3, 1], iscut=false, surface = nothing, color = [1, 0, 0, 1], state_priority = 15)
+ @parameters begin
+ radius = radius, [description = "Radius of the wheel"]
+ color[1:4] = color, [description = "Color of the wheel in animations"]
+ end
  @variables begin
- (x(t) = x0), [state_priority = 15, description = "x-position of the wheel axis"]
+ (x(t) = x0), [state_priority = state_priority, description = "x-position of the wheel axis"]
  (y(t) = y0), [state_priority = 0, description = "y-position of the wheel axis"]
- (z(t) = z0), [state_priority = 15, description = "z-position of the wheel axis"]
+ (z(t) = z0), [state_priority = state_priority, description = "z-position of the wheel axis"]
  (angles(t)[1:3] = angles),
- [state_priority = 5, description = "Angles to rotate world-frame into frame_a around z-, y-, x-axis"]
+ [state_priority = state_priority, description = "Angles to rotate world-frame into frame_a around z-, y-, x-axis"]
  (der_angles(t)[1:3] = der_angles), [state_priority = 5, description = "Derivatives of angles"]
  (r_road_0(t)[1:3] = zeros(3)),
  [
@@ -176,7 +179,8 @@ this frame.
  zeros(3) .~ collect(frame_a.f) + resolve2(Ra, f_wheel_0)
  zeros(3) .~ collect(frame_a.tau) +
  resolve2(Ra, cross(delta_0, f_wheel_0))]
- compose(ODESystem(equations, t; name), frame_a)
+ sys = compose(ODESystem(equations, t; name=:nothing), frame_a)
+ add_params(sys, [color;]; name)
 end
 
 """
@@ -234,7 +238,8 @@ with the wheel itself. A [`Revolute`](@ref) joint rotationg around `n = [0, 1, 0
  I_33 = I_axis,
  I_21 = 0,
  I_31 = 0,
- I_32 = 0)
+ I_32 = 0,
+ render = false)
  end
  pars = @parameters begin
  radius = radius, [description = "Radius of the wheel"]