move rendering to ext

Manifest.toml

@@ -2,7 +2,7 @@
 
 julia_version = "1.10.0-beta3"
 manifest_format = "2.0"
-project_hash = "2722c4c20f9f37455cc8e5e8d1b1a81036c80f24"
+project_hash = "214cc8fea2909c2dc41d280131bd19bf33b2b5df"
 
 [[deps.ADTypes]]
 git-tree-sha1 = "5d2e21d7b0d8c22f67483ef95ebdc39c0e6b6003"
@@ -183,6 +183,12 @@ weakdeps = ["IntervalSets", "StaticArrays"]
  ConstructionBaseIntervalSetsExt = "IntervalSets"
  ConstructionBaseStaticArraysExt = "StaticArrays"
 
+[[deps.CoordinateTransformations]]
+deps = ["LinearAlgebra", "StaticArrays"]
+git-tree-sha1 = "f9d7112bfff8a19a3a4ea4e03a8e6a91fe8456bf"
+uuid = "150eb455-5306-5404-9cee-2592286d6298"
+version = "0.6.3"
+
 [[deps.CpuId]]
 deps = ["Markdown"]
 git-tree-sha1 = "fcbb72b032692610bfbdb15018ac16a36cf2e406"

Project.toml

@@ -4,17 +4,25 @@ authors = ["JuliaHub Inc."]
 version = "0.1.0"
 
 [deps]
+CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 DataInterpolations = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
 JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 
+[weakdeps]
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
+
+[extensions]
+Render = ["Makie"]
+
 [compat]
 ModelingToolkit = "8.30"
 ModelingToolkitStandardLibrary = "2"
 Rotations = "1.4"
+CoordinateTransformations = "0.6"
 julia = "1"
 
 [extras]

docs/Project.toml

@@ -1,7 +1,11 @@
 [deps]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
 JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
+Multibody = "e1cad5d1-98ef-44f9-a79a-9ca4547f95b9"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+WGLMakie = "276b4fcb-3e11-5398-bf8b-a0c2d153d008"

docs/src/examples/pendulum.md

@@ -65,6 +65,16 @@ plot(sol, idxs = joint.phi, title="Pendulum")
 ```
 The solution `sol` can be plotted directly if the Plots package is loaded. The figure indicates that the pendulum swings back and forth without any damping. To add damping as well, we could add a `Damper` from the `ModelingToolkitStandardLibrary.Mechanical.Rotational` module to the revolute joint. We do this below
 
+## 3d Animation
+Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
+
+```@example spring_mass_system
+import WGLMakie
+Multibody.render(model, sol; z = -5, filename = "pendulum.gif") # Use "pendulum.mp4" for a video file
+```
+
+![animation](spherical.gif)
+
 ## Adding damping
 To add damping to the pendulum such that the pendulum will eventually come to rest, we add a [`Damper`](@ref) to the revolute joint. The damping coefficient is given by `d`, and the damping force is proportional to the angular velocity of the joint. To add the damper to the revolute joint, we must create the joint with the keyword argument `useAxisFlange = true`, this adds two internal flanges to the joint to which you can attach components from the `ModelingToolkitStandardLibrary.Mechanical.Rotational` module. We then connect one of the flanges of the damper to the axis flange of the joint, and the other damper flange to the support flange which is rigidly attached to the world.
 ```@example pendulum

docs/src/examples/spherical_pendulum.md

@@ -32,3 +32,14 @@ sol = solve(prob, Rodas4())
 
 plot(sol, idxs = [body.r_0...])
 ```
+
+
+## Render
+Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
+
+```@example spring_mass_system
+import WGLMakie
+Multibody.render(model, sol; z = -5, filename = "spherical.gif") # Use "spherical.mp4" for a video file
+```
+
+![animation](spherical.gif)

docs/src/examples/spring_damper_system.md

@@ -73,4 +73,15 @@ plot(
 This example has two parallel spring-mass parts, the first body (`body1`) is attached directly to the spring, with no joint in parallel with the spring. In this situation, we have to set `isroot=true` for `body1` to indicate that we want to use the body variables as state. The second body (`body2`) is attached to the spring with a joint in parallel with the spring, so we can use the joint variables as state, hence `isroot=false` for `body2`.
 
 
-In this example we used separate springs and dampers, see also the component [`SpringDamperParallel`](@ref) which combines the two in one component.
+In this example we used separate springs and dampers, see also the component [`SpringDamperParallel`](@ref) which combines the two in one component.
+
+
+## Render
+Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
+
+```@example spring_mass_system
+import WGLMakie
+Multibody.render(model, sol; z = -5, filename = "springdamper.gif") # Use "springdamper.mp4" for a video file
+```
+
+![animation](springdamper.gif)

docs/src/examples/spring_mass_system.md

@@ -10,7 +10,8 @@ This example mirrors that of the [modelica spring-mass system](https://doc.model
 using Multibody
 using ModelingToolkit
 using Plots
-using SymbolicIR
+using JuliaSimCompiler
+using ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica
 using OrdinaryDiffEq
 
 t = Multibody.t
@@ -19,7 +20,7 @@ world = Multibody.world
 
 systems = @named begin
  p1 = Prismatic(n = [0, -1, 0], s0 = 0.1, useAxisFlange = true)
- spring1 = Translational.Spring(30, s_rel0 = 0.1)
+ spring1 = TranslationalModelica.Spring(c=30, s_rel0 = 0.1)
  spring2 = Multibody.Spring(c = 30, s_unstretched = 0.1)
  body1 = Body(m = 1, r_cm = [0, 0, 0])
  bar1 = FixedTranslation(r = [0.3, 0, 0])
@@ -55,4 +56,14 @@ sol = solve(prob, Rodas4())
 
 plot(sol, idxs = [body1.r_0[2], body2.r_0[2]])
 ```
-The plot indicates that the two systems behave identically. 
+The plot indicates that the two systems behave identically. 
+
+## Render
+Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
+
+```@example spring_mass_system
+import WGLMakie
+Multibody.render(model, sol; z = -5, filename = "springmass.gif") # Use "springmass.mp4" for a video file
+```
+
+![animation](springmass.gif)

docs/src/examples/three_springs.md

@@ -42,5 +42,15 @@ prob = ODEProblem(ssys, [], (0, 10))
 sol = solve(prob, Rodas4(), u0=prob.u0 .+ 1e-1*randn(length(prob.u0)))
 @assert SciMLBase.successful_retcode(sol)
 
-plot(sol, idxs = [body1.r_0...])
+Plots.plot(sol, idxs = [body1.r_0...])
 ```
+
+## Render
+Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
+
+```@example spring_mass_system
+import WGLMakie
+Multibody.render(model, sol; z = -5, filename = "three_springs.gif") # Use "three_springs.mp4" for a video file
+```
+
+![animation](three_springs.gif)

render/Project.toml → ext/Project.toml

@@ -1,7 +1,7 @@
 [deps]
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
-GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
 JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 Multibody = "e1cad5d1-98ef-44f9-a79a-9ca4547f95b9"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"

render/render.jl → ext/Render.jl

@@ -1,5 +1,11 @@
-using GLMakie
+module Render
+using Makie
+using Multibody
+import Multibody: render, render!
+using Rotations
 using LinearAlgebra
+using ModelingToolkit
+export render
 
 """
  get_frame(sol, frame, t)
@@ -13,6 +19,14 @@ function get_frame(sol, frame, t)
 end
 
 
+"get_systemtype(sys): Get the constructor of a component for dispatch purposes. This only supports components that have the `gui_metadata` property set. If no metadata is available, nothing is returned."
+function get_systemtype(sys)
+ meta = getfield(sys, :gui_metadata)
+ meta === nothing && return nothing
+ eval(meta.type)
+end
+
+
 """
  scene, time = render(model, sol, t::Real; framerate = 30)
  path = render(model, sol, timevec = range(sol.t[1], sol.t[end], step = 1 / framerate); framerate = 30)
@@ -32,6 +46,7 @@ function render(model, sol,
  x = 0,
  y = 0,
  z = -10,
+ filename = "multibody_$(model.name).mp4",
  )
  if timevec === nothing
  timevec = range(sol.t[1], sol.t[end], step=1/framerate)
@@ -54,7 +69,7 @@ function render(model, sol,
  render!(scene, system_type, subsys, sol, t)
  end
 
- record(scene, "multibody_$(model.name).mp4", timevec; framerate) do time
+ record(scene, filename, timevec; framerate) do time
  t[] = time
  end
  # end
@@ -243,12 +258,6 @@ function render!(scene, ::typeof(Spring), sys, sol, t)
 end
 
 
-"get_systemtype(sys): Get the constructor of a component for dispatch purposes. This only supports components that have the `gui_metadata` property set. If no metadata is available, nothing is returned."
-function get_systemtype(sys)
- meta = getfield(sys, :gui_metadata)
- meta === nothing && return nothing
- eval(meta.type)
-end
 
 render!(scene, ::Any, args...) = () # Fallback for systems that have no rendering
 
@@ -268,9 +277,6 @@ function render!(scene, ::Function, sys, sol, t, args...) # Fallback for systems
  end
 end
 
-
-
-
 function spring_mesh(p1, p2; n_wind=6, radius=0.1f0, N=200)
  phi = range(0, n_wind*2π, length=N)
 
@@ -306,4 +312,5 @@ function rot_from_line(d)
  y = cross(d, x)
  y = y ./ norm(y)
  RotMatrix{3}([x y d])
+end
 end

src/Multibody.jl

@@ -8,6 +8,10 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Transl
 
 export Rotational, Translational
 
+export render
+function render end
+function render! end
+
 const t = let
  (@variables t)[1]
 end