v0.5.0

Modia3D v0.5.0

Diff since v0.4.0

• Largely redesigned.
• Integrated into Modia./ ModiaLang
• Not backwards compatible to previous versions.

Closed issues:

• could not load symbol "jl_function_ptr" in julia v1.6 (#14)

Merged pull requests:

• Install TagBot as a GitHub Action (#10) (@JuliaTagBot)
• Fixing LaTeX compilation for JCon (#13) (@arfon)

v0.4.0

• Collision handling significantly improved:

  • New elastic response characteristics.
  • Contact start and end detection with zero crossing functions improved.
  • Many bugs removed.
  • Several examples for collision handling added.

• KUKA YouBot robot example added (together with simple PTP path planning).

• Documentation considerably improved.

Version 0.3.0

• The first version that requires Julia >= 1.0 (all Julia 0.6 and 0.7 code was removed).

• Adapted to ModiaMath 0.5.0 (earlier versions of ModiaMath are no longer supported).

• Prismatic and Revolute joints have a new keyword axis with possible values 1,2,3,-1,-2,-3, to define the axis of movement / rotation.

• All joints have a new keyword canCollide (default = false). If false, collision detection will not occur to the Object3Ds that are rigidly fixed to each other and connected by the joint.

• Before a simulation is performed, the internal structure is optimized for the computation:

  • For all objects that are rigidly connected, the common mass, common center-of-mass, common inertia tensor are computed and used during simulation (and the source frames with mass property objects are ignored if not needed for other purposes).
  • Collision detection is switched off for Object3D pairs that are rigidly connected to each other.
  • The spanning tree of the Object3Ds is simplified, so that during simulation only the minimum number of frames must be traversed and position, velocity, acceleration of these frames are computed. Object3Ds that are only used for visualization are only evaluated at communication points and only the position is computed (not velocity or acceleration).

• More examples and tests added.

Version 0.2.1

• Adapted to Julia 0.7 and 1.0 (including using new package manager via Project.toml, Manifest.toml files).

• Travis Continuous Integration added.

• Wrong UUID of Modia3D and referenced ModiaMath corrected (did not correspond to the UUID in Julias METADATA).

• PyPlot was removed from the REQUIRE and Project.toml files and code was added, so that PyPlot is automatically imported in ModiaMath if it is available in the current environment of the user. The benefit is that Modia3D and ModiaMath can be used, even if PyPlot is not installed. This is especially useful for ContinuousIntegration, because automatic installation of PyPlot often fails. Inspect the wiki page Installing PyPlot in a robust way to install PyPlot in a robust way.

• All extra packages used in examples and tests are now referenced via Modia3D (for example using Modia3D.StaticArrays instead of using StaticArrays). The benefit is that all examples and tests can be directly executed with include (for example: import Modia3D; include($(Modia3D.path)/examples/dynamics/Simulate_Pendulum.jl)) provided Modia3D is in the current environment. Previously, it was assumed that these extra packages are present in the users environment and an error occured, if this was not the case.

• Dependent packages updated to their newest versions.
  Especially, warnings from Unitful do no longer occur, due to the update to version 0.12.0.

Version 0.2.0 - Initial public release.

Initial public release in August 2018 at JuliaCon for Julia 0.6.4.