From cd28bb85fd60dabe4800491f467005b92b359806 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <baggepinnen@gmail.com>
Date: Fri, 5 Apr 2024 12:03:11 +0200
Subject: [PATCH] add JuliaSim logo script

---
 examples/JuliaSim_logo.jl | 46 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 examples/JuliaSim_logo.jl

diff --git a/examples/JuliaSim_logo.jl b/examples/JuliaSim_logo.jl
new file mode 100644
index 00000000..292f7fdc
--- /dev/null
+++ b/examples/JuliaSim_logo.jl
@@ -0,0 +1,46 @@
+using ModelingToolkit
+using Multibody, JuliaSimCompiler
+using OrdinaryDiffEq # Contains the ODE solver we will use
+using Plots
+t = Multibody.t
+W(args...; kwargs...) = Multibody.world
+
+
+JULIASIM_PURPLE = [87,87,219,255.0f0]./255 # RGBA
+length_scale = 0.5
+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)
+        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)
+    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(world.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)
+    end
+end
+
+@named logo = Logo()
+logo = complete(logo)
+ssys = structural_simplify(IRSystem(logo))
+prob = ODEProblem(ssys, [], (0.0, 3.51))
+sol = solve(prob, Rodas5P())
+Plots.plot(sol)
+
+using GLMakie
+render(logo, sol; z=-2, x=-0.3, y=0.3, filename="JuliaSim_logo.gif")
\ No newline at end of file