MTKstdlib 2 and JSComp

JuliaComputing · Sep 28, 2023 · 1d22777 · 1d22777
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diff --git a/docs/src/examples/free_motion.md b/docs/src/examples/free_motion.md
@@ -5,7 +5,7 @@ This example demonstrates how a free-floating [`Body`](@ref) can be simulated. T
 using Multibody
 using ModelingToolkit
 using Plots
-using SymbolicIR
+using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t

diff --git a/docs/src/examples/gearbox.md b/docs/src/examples/gearbox.md
@@ -10,7 +10,7 @@ The [`GearConstraint`](@ref) has two rotational axes which do not have to be par
 using Multibody
 using ModelingToolkit
 using Plots
-using SymbolicIR
+using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t

diff --git a/docs/src/examples/pendulum.md b/docs/src/examples/pendulum.md
@@ -6,7 +6,7 @@ This beginners tutorial will model a pendulum pivoted around the origin in the w
 To start, we load the required packages
 ```@example pendulum
 using ModelingToolkit
-using Multibody, SymbolicIR
+using Multibody, JuliaSimCompiler
 using OrdinaryDiffEq # Contains the ODE solver we will use
 using Plots
 ```
@@ -94,8 +94,8 @@ A mass suspended in a spring can be though of as a linear pendulum (often referr
 ![Spring with mass](https://doc.modelica.org/Modelica%203.2.3/Resources/Images/Mechanics/MultiBody/Examples/Elementary/SpringWithMass.png)
 
 ```@example pendulum
-@named damper = Translational.Damper(0.5)
-@named spring = Translational.Spring(1)
+@named damper = Translational.Damper(d=0.5)
+@named spring = Translational.Spring(c=1)
 @named joint = Prismatic(n = [0, 1, 0], isroot = true, useAxisFlange = true)
 
 connections = [connect(world.frame_b, joint.frame_a)
@@ -117,7 +117,6 @@ As is hopefully evident from the little code snippet above, this linear pendulum
 ### Why do we need a joint?
 In the example above, we introduced a prismatic joint to model the oscillating motion of the mass-spring system. In reality, we can suspend a mass in a spring without any joint, so why do we need one here? The answer is that we do not, in fact, need the joint, but if we connect the spring directly to the world, we need to make the body (mass) the root object of the kinematic tree instead:
 ```@example pendulum
-using SymbolicIR
 @named root_body = Body(; m = 1, isroot = true, r_cm = [0, 1, 0], phi0 = [0, 1, 0])
 @named multibody_spring = Multibody.Spring(c=1)
 

diff --git a/docs/src/examples/sensors.md b/docs/src/examples/sensors.md
@@ -7,7 +7,6 @@ The example below adds a force and a torque sensor to the pivot point of a pendu
 using Multibody
 using ModelingToolkit
 using Plots
-using SymbolicIR
 using OrdinaryDiffEq
 using LinearAlgebra
 

diff --git a/docs/src/examples/spherical_pendulum.md b/docs/src/examples/spherical_pendulum.md
@@ -5,7 +5,7 @@ This example models a spherical pendulum. The pivot point is modeled using a [`S
 using Multibody
 using ModelingToolkit
 using Plots
-using SymbolicIR
+using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t

diff --git a/docs/src/examples/three_springs.md b/docs/src/examples/three_springs.md
@@ -9,7 +9,7 @@ The example connects three springs together in a single point. The springs are a
 using Multibody
 using ModelingToolkit
 using Plots
-using SymbolicIR
+using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t

diff --git a/src/Multibody.jl b/src/Multibody.jl
@@ -2,7 +2,7 @@ module Multibody
 
 using LinearAlgebra
 using ModelingToolkit
-using SymbolicIR
+using JuliaSimCompiler
 import ModelingToolkitStandardLibrary.Mechanical.Rotational
 import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Translational
 

diff --git a/test/runtests.jl b/test/runtests.jl
@@ -269,7 +269,7 @@ connections = [connect(damper1.flange_b, rev1.axis)
  damper2,
  ])
 modele = ModelingToolkit.expand_connections(model)
-ssys = structural_simplify(model, allow_parameter = false)
+# ssys = structural_simplify(model, allow_parameter = false)
 
 irsys = IRSystem(modele)
 ssys = structural_simplify(irsys, alias_eliminate = false)
@@ -294,8 +294,8 @@ isinteractive() &&
 ## Linear mass-spring-damper ===================================================
 # ==============================================================================
 
-@named damper = Translational.Damper(0.5)
-@named spring = Translational.Spring(1)
+@named damper = Translational.Damper(d=0.5)
+@named spring = Translational.Spring(c=1)
 @named joint = Prismatic(n = [0, 1, 0], isroot = true, useAxisFlange = true)
 
 connections = [connect(world.frame_b, joint.frame_a)
@@ -433,7 +433,7 @@ equation
  connect(spring2.frame_a, spring1.frame_b);
 end ThreeSprings;
 =#
-
+##
 using Multibody
 using ModelingToolkit
 using JuliaSimCompiler