From e5de244e3b496226f2279373ee3cdc4963aed5ec Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <baggepinnen@gmail.com>
Date: Wed, 26 Jun 2024 12:39:19 +0200
Subject: [PATCH] finishing touches

---
 src/components.jl | 6 +++---
 test/runtests.jl  | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/components.jl b/src/components.jl
index 40b0397d..7fd91f0a 100644
--- a/src/components.jl
+++ b/src/components.jl
@@ -306,16 +306,16 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
             @variables phid(t)[1:3]=phid0 [state_priority = 10]
             @variables phidd(t)[1:3]=zeros(3) [state_priority = 10]
             phi, phid, phidd = collect.((phi, phid, phidd))
-            ar = axes_rotations([1, 2, 3], phi, phid)
+            ar = axes_rotations([1, 2, 3], phi, -phid) # NOTE: this - sign is mysterious, it was not required before the change to axis_rotation in https://github.com/JuliaComputing/Multibody.jl/pull/93, but the change in the PR was checked by comparing Multibody.RotX(pi/2) and angle = pi/2; [1 0 0; 0 cos(angle) sin(angle); 0 -sin(angle)  cos(angle)] which is the modelica implementation of RotX. It appears related to vef_from_R, if the - is removed, vel_from_R can be set to false in swing example. 
             Equation[
                     phid .~ D.(phi)
                     phidd .~ D.(phid)
                     Ra ~ ar
-                    Ra.w .~ w_a
+                    Ra.w .~ ar.w
                     if vel_from_R
                         w_a .~ angular_velocity2(ori(frame_a, false)) # This is required for FreeBody and ThreeSprings tests to pass, but the other one required for harmonic osciallator without joint to pass. FreeBody passes with quat=true so we use that instead
                     else
-                        w_a .~ ar.w # This one for most systems
+                        w_a .~ angular_velocity2(ar) # This one for most systems
                     end
                     ]
         end
diff --git a/test/runtests.jl b/test/runtests.jl
index 6444ad64..99c91dec 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -663,7 +663,7 @@ using LinearAlgebra
 # @testset "Rolling wheel" begin
 @mtkmodel WheelInWorld begin
     @components begin
-        world = World(render=true)
+        world = W()
         wheel = RollingWheel(radius = 0.3, m = 2, I_axis = 0.06,
                             I_long = 0.12,
                             x0 = 0.2,
@@ -675,6 +675,7 @@ end
 @named worldwheel = WheelInWorld()
 worldwheel = complete(worldwheel)
 
+# pars = collect(worldwheel.world.n) .=> [0,0,-1];
 defs = Dict([
     collect(worldwheel.world.n) .=> [0,0,-1];
     worldwheel.wheel.body.r_0[1] => 0.2;