nicer headlines

JuliaComputing · Oct 28, 2023 · 35c21dc · 35c21dc
1 parent 282a2dc
commit 35c21dc
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 4 deletions.
diff --git a/docs/src/examples/spring_damper_system.md b/docs/src/examples/spring_damper_system.md
@@ -77,7 +77,7 @@ This example has two parallel spring-mass parts, the first body (`body1`) is att
 In this example we used separate springs and dampers, see also the component [`SpringDamperParallel`](@ref) which combines the two in one component.
 
 
-## Render
+## 3D animation
 Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
 
 ```@example spring_damper_system

diff --git a/docs/src/examples/spring_mass_system.md b/docs/src/examples/spring_mass_system.md
@@ -58,7 +58,7 @@ Plots.plot(sol, idxs = [body1.r_0[2], body2.r_0[2]])
 ```
 The plot indicates that the two systems behave identically. 
 
-## Render
+## 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

diff --git a/docs/src/examples/three_springs.md b/docs/src/examples/three_springs.md
@@ -3,6 +3,8 @@ This example mirrors that of the [modelica three-springs](https://doc.modelica.o
 
 ![three springs](https://doc.modelica.org/Modelica%203.2.3/Resources/Images/Mechanics/MultiBody/Examples/Elementary/ThreeSprings.png)
 
+![animation](three_springs.gif)
+
 The example connects three springs together in a single point. The springs are all massless and do normally not have any state variables, but we can insist on one of the springs being stateful, in this case, we must tell the lower spring component to act as root by setting `fixedRotationAtFrame_a = fixedRotationAtFrame_b = true`.
 
 ```@example spring_mass_system
@@ -47,7 +49,7 @@ sol = solve(prob, Rodas4(), u0=prob.u0 .+ 1e-1*randn(length(prob.u0)))
 Plots.plot(sol, idxs = [body1.r_0...])
 ```
 
-## Render
+## 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

diff --git a/src/forces.jl b/src/forces.jl
@@ -377,7 +377,7 @@ end
 
 Linear spring and linear damper in parallel acting as line force between `frame_a` and `frame_b`. A force `f` is exerted on the origin of `frame_b` and with opposite sign on the origin of `frame_a` along the line from the origin of `frame_a` to the origin of `frame_b` according to the equation:
 ```math
-f = c (s - s_unstretched) + d*D(s)
+f = c (s - s_{unstretched}) + d\cdot D(s)
 ```
 where `c`, `s_unstretched` and `d` are parameters, `s` is the distance between the origin of `frame_a` and the origin of `frame_b` and `D(s)` is the time derivative of `s`.
 """