Framerender

docs/src/rotations.md

@@ -54,6 +54,10 @@ E = RotXYZ(R)
 Evec = params(E)
 ```
 
+```@example ORI
+rotation_axis(R), rotation_angle(R) # Get an axis-angle representation
+```
+
 ## Conventions for modeling
 See [Orientations and directions](@ref)
 

ext/Render.jl

@@ -305,6 +305,42 @@ function render!(scene, ::typeof(World), sys, sol, t)
  true
 end
 
+function render!(scene, ::typeof(Frame), sys, sol, t)
+ sol(sol.t[1], idxs=sys.render)==true || return true # yes, == true
+ radius = sol(sol.t[1], idxs=sys.radius) |> Float32
+ length = sol(sol.t[1], idxs=sys.length) |> Float32
+ T = get_frame_fun(sol, sys)
+
+ thing = @lift begin
+ Ti = T($t)
+ Rx = Ti[:, 1]
+ O = Point3f(Ti[1:3, 4]) # Assume world is never moving
+ x = O .+ Point3f(length*Rx)
+ Makie.GeometryBasics.Cylinder(O, x, radius)
+ end
+ mesh!(scene, thing, color=:red)
+
+ thing = @lift begin
+ Ti = T($t)
+ Ry = Ti[:, 2]
+ O = Point3f(Ti[1:3, 4]) # Assume world is never moving
+ y = O .+ Point3f(length*Ry)
+ Makie.GeometryBasics.Cylinder(O, y, radius)
+ end
+ mesh!(scene, thing, color=:green)
+
+ thing = @lift begin
+ Ti = T($t)
+ Rz = Ti[:, 3]
+ O = Point3f(Ti[1:3, 4]) # Assume world is never moving
+ z = O .+ Point3f(length*Rz)
+ Makie.GeometryBasics.Cylinder(O, z, radius)
+ end
+ mesh!(scene, thing, color=:blue)
+
+ true
+end
+
 function render!(scene, T::Union{typeof(Revolute), typeof(RevolutePlanarLoopConstraint)}, sys, sol, t)
  r_0 = get_fun(sol, collect(sys.frame_a.r_0))
  n = get_fun(sol, collect(sys.n))

src/frames.jl

@@ -1,4 +1,4 @@
-@connector function Frame(; name, varw = false, r_0 = zeros(3))
+@connector function Frame(; name, varw = false, r_0 = zeros(3), render=false, length=1.0, radius=0.1)
  @variables r_0(t)[1:3]=r_0 [
  description = "Position vector directed from the origin of the world frame to the connector frame origin, resolved in world frame",
  ]
@@ -10,12 +10,17 @@
  connect = Flow,
  description = "Cut torque resolved in connector frame",
  ]
+ pars = @parameters begin
+ render = render
+ length = length
+ radius = radius
+ end
  r_0, f, tau = collect.((r_0, f, tau))
  # R: Orientation object to rotate the world frame into the connector frame
 
  R = NumRotationMatrix(; name, varw, state_priority=-1)
 
- ODESystem(Equation[], t, [r_0; f; tau], []; name,
+ ODESystem(Equation[], t, [r_0; f; tau], pars; name,
  metadata = Dict(:orientation => R, :frame => true))
 end