switch rendering backend to GLMakie (#86)

* switch rendering backend to WGLMakie * try something * try GLMakie instead * rm sudo * rm apt install this is done permanently on the CI machine * add DISPLAY env * string * more display * up example
JuliaComputing · Jun 24, 2024 · 3d12cab · 3d12cab
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diff --git a/.github/workflows/Documentation.yml b/.github/workflows/Documentation.yml
@@ -32,12 +32,13 @@ jobs:
  private_registry_name: JuliaSimRegistry
  private_registry_uuid: 309a7822-a73e-4490-9504-7d1983f27685
  - name: Install dependencies
- run: julia --project=docs -e 'using Pkg;
+ run: DISPLAY=:0 xvfb-run -s '-screen 0 1024x768x24' julia --project=docs -e 'using Pkg;
+ ENV["DISPLAY"] = "0";
  Pkg.setprotocol!(; domain = "github.com", protocol = "ssh"); 
  Pkg.add(PackageSpec(name = "JuliaSimCompiler", url = "https://github.com/JuliaComputing/JuliaSimCompiler.jl", rev = "master"));
  Pkg.develop(PackageSpec(path=pwd()));
  Pkg.instantiate()'
  - name: Build and deploy
  env:
  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # For authentication with GitHub Actions token
- run: julia --project=docs/ docs/make.jl
+ run: DISPLAY=:0 xvfb-run -s '-screen 0 1024x768x24' julia --project=docs/ docs/make.jl
diff --git a/docs/Manifest.toml b/docs/Manifest.toml
diff --git a/docs/Project.toml b/docs/Project.toml
@@ -1,6 +1,6 @@
 [deps]
-CairoMakie = "13f3f980-e62b-5c42-98c6-ff1f3baf88f0"
 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"

diff --git a/docs/make.jl b/docs/make.jl
@@ -1,6 +1,8 @@
 using Multibody
 using Documenter
-using CairoMakie
+using GLMakie
+GLMakie.activate!()
+
 ENV["JULIA_DEBUG"]=Documenter # Enable this for debugging
 ENV["DOCS_BUILD"] = true # used to lower the default frame rate in animations for the docs
 

diff --git a/docs/src/examples/free_motion.md b/docs/src/examples/free_motion.md
@@ -93,7 +93,7 @@ plot(sol, idxs = [body.r_0...])
 ```
 
 ```@example FREE_MOTION
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol, filename = "free_body.gif")
 nothing # hide
 ```

diff --git a/docs/src/examples/gyroscopic_effects.md b/docs/src/examples/gyroscopic_effects.md
@@ -48,7 +48,7 @@ using Test # hide
 @test sol(5, idxs=collect(model.body2.r_0[1:3])) ≈ [-0.0357364, -0.188245, 0.02076935] atol=1e-3 # hide
 # plot(sol, idxs=collect(model.body2.r_0)) # hide
 
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol; x=1, z=1, filename = "gyro.gif") # Use "gyro.mp4" for a video file
 nothing # hide
 ```

diff --git a/docs/src/examples/kinematic_loops.md b/docs/src/examples/kinematic_loops.md
@@ -79,7 +79,7 @@ using Test
 Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
 
 ```@example kinloop
-import CairoMakie
+import GLMakie
 Multibody.render(fourbar, sol, 0:0.05:10; x=4, y=-1, z=4, lookat=[0, -1, 0], filename = "fourbar.gif") # Use "fourbar.mp4" for a video file
 nothing # hide
 ```
@@ -136,7 +136,7 @@ plot(sol, idxs=[j2.s]) # Plot the joint coordinate of the prismatic joint (green
 ```
 
 ```@example kinloop
-import CairoMakie
+import GLMakie
 Multibody.render(fourbar2, sol; x=-2, y = 2, z = 3, filename = "fourbar2.gif") # Use "fourbar2.mp4" for a video file
 nothing # hide
 ```

diff --git a/docs/src/examples/pendulum.md b/docs/src/examples/pendulum.md
@@ -67,7 +67,7 @@ The solution `sol` can be plotted directly if the Plots package is loaded. The f
 Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
 
 ```@example pendulum
-import CairoMakie # GLMakie is another alternative, suitable for interactive plots
+import GLMakie # GLMakie is another alternative, suitable for interactive plots
 Multibody.render(model, sol; filename = "pendulum.gif") # Use "pendulum.mp4" for a video file
 nothing # hide
 ```
@@ -226,7 +226,7 @@ plot(sol, layout=4)
 ```
 
 ```@example pendulum
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol, filename = "furuta.gif")
 nothing # hide
 ```

diff --git a/docs/src/examples/robot.md b/docs/src/examples/robot.md
@@ -97,7 +97,7 @@ plot(sol, idxs = [
 Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
 
 ```@example robot
-import CairoMakie
+import GLMakie
 Multibody.render(robot, sol; y=2, lookat=[0,1,0], filename = "robot.gif")
 nothing # hide
 ```

diff --git a/docs/src/examples/ropes_and_cables.md b/docs/src/examples/ropes_and_cables.md
@@ -35,7 +35,7 @@ prob = ODEProblem(ssys, [], (0, 5))
 sol = solve(prob, Rodas4(autodiff=false))
 @test SciMLBase.successful_retcode(sol)
 
-import CairoMakie
+import GLMakie
 Multibody.render(stiff_rope, sol, filename = "stiff_rope.gif") # May take long time for n>=10
 ```
 ![stiff_rope animation](stiff_rope.gif)

diff --git a/docs/src/examples/space.md b/docs/src/examples/space.md
@@ -65,7 +65,7 @@ plot(sol)
 
 
 ```@example SPACE
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol, filename = "space.gif")
 nothing # hide
 ```

diff --git a/docs/src/examples/spherical_pendulum.md b/docs/src/examples/spherical_pendulum.md
@@ -42,7 +42,7 @@ plot(sol, idxs = [body.r_0...])
 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 CairoMakie
+import GLMakie
 Multibody.render(model, sol; filename = "spherical.gif") # Use "spherical.mp4" for a video file
 nothing # hide
 ```

diff --git a/docs/src/examples/spring_damper_system.md b/docs/src/examples/spring_damper_system.md
@@ -79,7 +79,7 @@ In this example we used separate springs and dampers, see also the component [`S
 Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
 
 ```@example spring_damper_system
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol; filename = "springdamper.gif")
 nothing # hide
 ```

diff --git a/docs/src/examples/spring_mass_system.md b/docs/src/examples/spring_mass_system.md
@@ -64,7 +64,7 @@ The plot indicates that the two systems behave identically.
 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 CairoMakie
+import GLMakie
 Multibody.render(model, sol; x=5, z = 5, filename = "springmass.gif")
 nothing # hide
 ```

diff --git a/docs/src/examples/swing.md b/docs/src/examples/swing.md
@@ -72,7 +72,7 @@ sol = solve(prob, ImplicitEuler(autodiff=false), reltol=5e-3)
 ```
 
 ```@example SWING
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol; z = -5, filename = "simple_swing.gif") # Use "simple_swing.mp4" for a video file
 nothing # hide
 ```
@@ -155,7 +155,7 @@ Plots.plot(sol, idxs = [collect(model.body.r_0);])
 ```
 
 ```@example SWING
-import CairoMakie
+import GLMakie
 Multibody.render(model, sol; y = -1, z = -3, lookat = [0, -1, 0], filename = "swing.gif") # Use "swing.mp4" for a video file
 nothing # hide
 ```

diff --git a/docs/src/examples/three_springs.md b/docs/src/examples/three_springs.md
@@ -69,7 +69,7 @@ Plots.plot(sol, idxs = [body1.r_0...])
 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 CairoMakie
+import GLMakie
 Multibody.render(model, sol; filename = "three_springs.gif") # Use "three_springs.mp4" for a video file
 nothing # hide
 ```

diff --git a/docs/src/index.md b/docs/src/index.md
@@ -65,7 +65,7 @@ prob = ODEProblem(ssys, [], (0.0, 3.51))
 sol = solve(prob, Rodas5P())
 Plots.plot(sol)
 
-import CairoMakie
+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)

diff --git a/docs/src/rendering.md b/docs/src/rendering.md
@@ -11,7 +11,7 @@ or
 using CairoMakie
 ```
 !!! note "Backend choice"
- GLMakie produces much nicer-looking animations and is also significantly faster. CairoMakie is used to produce the graphics in the documentation due to the constraints imposed by the web environment. CairoMakie also struggles with the Z-order of drawn objects, sometimes making bodies that should have been visible hidden behind bodies that are further back in the scene.
+ GLMakie and WGLMakie produce much nicer-looking animations and is also significantly faster than CairoMakie. CairoMakie may be used to produce the graphics in some web environments if constraints imposed by the web environment do not allow any of the GL alternatives. CairoMakie struggles with the Z-order of drawn objects, sometimes making bodies that should have been visible hidden behind bodies that are further back in the scene.
 
 After that, the [`render`](@ref) function is the main entry point to create 3D renderings. This function has the following methods: