Fix depwarn

ext/Render.jl

@@ -6,6 +6,7 @@ import Multibody.PlanarMechanics as P
 using Rotations
 using LinearAlgebra
 using ModelingToolkit
+using ModelingToolkit: get_metadata
 export render, loop_render
 using MeshIO, FileIO
 using StaticArrays
@@ -301,10 +302,11 @@ function render(model, sol,
  if traces !== nothing
  tvec = range(sol.t[1], stop=sol.t[end], length=500)
  for frame in traces
- (frame.metadata !== nothing) || error("Only frames can be traced in animations.")
- if get(frame.metadata, :frame, false)
+ md = get_metadata(frame)
+ (md !== nothing) || error("Only frames can be traced in animations.")
+ if get(md, :frame, false)
  points = get_trans(sol, frame, tvec) |> Matrix
- elseif get(frame.metadata, :frame_2d, false)
+ elseif get(md, :frame_2d, false)
  points = get_trans_2d(sol, frame, tvec) |> Matrix
  else
  error("Got fishy frame metadata")
@@ -374,10 +376,11 @@ function render(model, sol, time::Real;
  if traces !== nothing
  tvec = range(sol.t[1], stop=sol.t[end], length=500)
  for frame in traces
- (frame.metadata !== nothing) || error("Only frames can be traced in animations.")
- if get(frame.metadata, :frame, false)
+ md = get_metadata(frame)
+ (md !== nothing) || error("Only frames can be traced in animations.")
+ if get(md, :frame, false)
  points = get_trans(sol, frame, tvec) |> Matrix
- elseif get(frame.metadata, :frame_2d, false)
+ elseif get(md, :frame_2d, false)
  points = get_trans_2d(sol, frame, tvec) |> Matrix
  else
  error("Got fishy frame metadata")
@@ -1165,4 +1168,4 @@ function render!(scene, ::typeof(Multibody.CylinderVisualizer), sys, sol, t)
  true
 end
 
-end
+end

src/components.jl

@@ -1,9 +1,11 @@
 using LinearAlgebra
+using ModelingToolkit: get_metadata
 import ModelingToolkitStandardLibrary
 
 function isroot(sys)
- sys.metadata isa Dict || return false
- get(sys.metadata, :isroot, false)
+ md = get_metadata(sys)
+ md isa Dict || return false
+ get(md, :isroot, false)
 end
 
 purple = [0.5019608f0,0.0f0,0.5019608f0,1.0f0]
@@ -13,12 +15,13 @@ purple = [0.5019608f0,0.0f0,0.5019608f0,1.0f0]
 
 Get the orientation of `sys` as a `RotationMatrix` object. See also [`get_rot`](@ref). `ori(frame).R` is the rotation matrix that rotates a vector from the world coordinate system to the local frame.
 
-For frames, the orientation is stored in the metadata field of the system as `sys.metadata[:orientation]`.
+For frames, the orientation is stored in the metadata field of the system as `get_metadata(sys)[:orientation]`.
 
 If `varw = true`, the angular velocity variables `w` of the frame is also included in the `RotationMatrix` object, otherwise `w` is derived as the time derivative of `R`. `varw = true` is primarily used when selecting a component as root.
 """
 function ori(sys, varw = false)
- if sys.metadata isa Dict && (O = get(sys.metadata, :orientation, nothing)) !== nothing
+ md = get_metadata(sys)
+ if md isa Dict && (O = get(md, :orientation, nothing)) !== nothing
  R = collect(O.R)
  # Since we are using this function instead of sys.ori, we need to handle namespacing properly as well
  ns = nameof(sys)