add color option to revolute

examples/JuliaSim_logo.jl

@@ -7,31 +7,45 @@ W(args...; kwargs...) = Multibody.world
 
 
 JULIASIM_PURPLE = [87,87,219,255.0f0]./255 # RGBA
-length_scale = 0.5
+length_scale = 0.5 # This controls the frequency of the oscillations, smaller scale -> faster oscillations
 radius_small = length_scale*0.2
 radius_large = length_scale*0.3
 
 @mtkmodel Logo begin
  @components begin
  world = World()
- revl = Revolute(; radius = radius_large, color=JULIASIM_PURPLE)
- revr = Revolute(; radius = radius_small, color=JULIASIM_PURPLE)
+ revl = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, useAxisFlange=true)
+ revl2 = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, useAxisFlange=true)
+ revr = Revolute(; radius = radius_small, color=JULIASIM_PURPLE, useAxisFlange=true)
  bodyl = Body(m=1, radius = radius_small, color=JULIASIM_PURPLE)
  bodyr = Body(m=1, radius = radius_large, color=JULIASIM_PURPLE)
  bar_top = FixedTranslation(r=length_scale*[1, 0.05, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
- bar_l = FixedTranslation(r=length_scale*[1, -1, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
- bar_r = FixedTranslation(r=1.1*length_scale*[-1, -1, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
+ barl = FixedTranslation(r=length_scale*[1, -1, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
+ barr = FixedTranslation(r=1.1*length_scale*[-1, -1, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)
+
+ damperl = Rotational.Damper(d=0.1)
+ damperl2 = Rotational.Damper(d=0.01)
+ damperr = Rotational.Damper(d=0.01)
  end
  @equations begin
  connect(revl.frame_a, world.frame_b)
 
- connect(revl.frame_b, bar_l.frame_a)
- connect(bar_l.frame_b, bodyl.frame_a)
+ connect(revl.frame_b, barl.frame_a)
+ connect(barl.frame_b, bodyl.frame_a)
 
- connect(world.frame_b, bar_top.frame_a)
+ connect(world.frame_b, revl2.frame_a)
+ connect(revl2.frame_b, bar_top.frame_a)
  connect(bar_top.frame_b, revr.frame_a)
- connect(revr.frame_b, bar_r.frame_a)
- connect(bar_r.frame_b, bodyr.frame_a)
+ connect(revr.frame_b, barr.frame_a)
+ connect(barr.frame_b, bodyr.frame_a)
+
+ connect(revl.axis, damperl.flange_a)
+ connect(revl2.axis, damperl2.flange_a)
+ connect(revr.axis, damperr.flange_a)
+
+ connect(revl.support, damperl.flange_b)
+ connect(revl2.support, damperl2.flange_b)
+ connect(revr.support, damperr.flange_b)
  end
 end
 
@@ -43,4 +57,6 @@ sol = solve(prob, Rodas5P())
 Plots.plot(sol)
 
 using GLMakie
-render(logo, sol; z=-2, x=-0.3, y=0.3, filename="JuliaSim_logo.gif")
+framerate = 30
+timevec = range(sol.t[1], sol.t[end], step=1/framerate) |> reverse
+render(logo, sol, timevec; z=-2, x=-0.3, y=0.3, filename="JuliaSim_logo.mp4", framerate)

src/joints.jl

@@ -1,3 +1,7 @@
+function add_params(sys, params; name)
+ params isa AbstractVector || (params = [params...])
+ extend(ODESystem(Equation[], t, [], params; name), sys)
+end
 
 """
  Revolute(; name, phi0 = 0, w0 = 0, n, useAxisFlange = false)
@@ -14,12 +18,15 @@ If `useAxisFlange`, flange connectors for ModelicaStandardLibrary.Mechanics.Rota
 - `support`: 1-dim. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)
 """
 @component function Revolute(; name, phi0 = 0, w0 = 0, n = Float64[0, 0, 1], useAxisFlange = false,
- isroot = true, iscut = false, radius = 0.05, state_priority = 3.0)
+ isroot = true, iscut = false, radius = 0.05, color = [0.5019608f0,0.0f0,0.5019608f0,1.0f0], state_priority = 3.0)
  norm(n) ≈ 1 || error("Axis of rotation must be a unit vector")
  @named frame_a = Frame()
  @named frame_b = Frame()
  @parameters n[1:3]=n [description = "axis of rotation"]
- @parameters radius = radius [description = "radius of the joint in animations"]
+ pars = @parameters begin
+ radius = radius, [description = "radius of the joint in animations"]
+ color[1:4] = color, [description = "color of the joint in animations (RGBA)"]
+ end
  @variables tau(t)=0 [
  connect = Flow,
  state_priority = 2,
@@ -76,7 +83,7 @@ If `useAxisFlange`, flange connectors for ModelicaStandardLibrary.Mechanics.Rota
  push!(eqs, tau ~ 0)
  ODESystem(eqs, t; name=:nothing, systems=[frame_a, frame_b])
  end
- extend(ODESystem(Equation[], t, [], [radius]; name), sys)
+ add_params(sys, pars; name)
 end
 
 """