Merge pull request #36 from janbruedigam/small_updates

Small updates

src/ConstrainedDynamics.jl

@@ -10,20 +10,21 @@ using Rotations: RotationError, pure_quaternion, params, lmult, rmult, tmat, vma
 using Colors: RGBA, RGB
 using LightXML
 
-export Box,
-    Cylinder,
-    Sphere,
-    Mesh,
 
-    UnitQuaternion,
-    Origin,
+export Origin,
     Body,
     EqualityConstraint,
     InequalityConstraint,
     Mechanism,
     LinearMechanism,
-    Storage,
     Controller,
+    Storage,
+    UnitQuaternion,
+
+    Box,
+    Cylinder,
+    Sphere,
+    Mesh,
 
     Floating,
     Prismatic,
@@ -38,25 +39,23 @@ export Box,
 
     Impact,
     Friction,
+    UnitQuaternion,
 
     setPosition!,
     setVelocity!,
     setForce!,
-    simulate!,
-    initializeConstraints!,
-
-    disassemble,
     getid,
     getcomponent,
     getbody,
     geteqconstraint,
     getineqconstraint,
+    simulate!,
+    initializeConstraints!,
+    disassemble,
     minimalCoordinates,
     activate!,
     deactivate!,
 
-    linearsystem,
-
     RotX,
     RotY,
     RotZ,
@@ -66,56 +65,51 @@ export Box,
     sones,
     srand
 
-
 include(joinpath("util", "util.jl"))
 include(joinpath("util", "custom_static.jl"))
 include(joinpath("util", "customdict.jl"))
 include(joinpath("util", "quaternion.jl"))
-include(joinpath("util", "shapes.jl"))
 
-include(joinpath("components", "component.jl"))
-include(joinpath("components", "state.jl"))
-include(joinpath("components", "body.jl"))
+include(joinpath("optional_components", "shapes.jl"))
+include(joinpath("optional_components", "storage.jl"))
 
-include(joinpath("joints", "joint.jl"))
-include(joinpath("bounds", "bound.jl"))
+include(joinpath("main_components", "component.jl"))
+include(joinpath("main_components", "state.jl"))
+include(joinpath("main_components", "body.jl"))
+include(joinpath("main_components", "equalityconstraint.jl"))
+include(joinpath("main_components", "inequalityconstraint.jl"))
+include(joinpath("main_components", "graph.jl"))
+include(joinpath("main_components", "controller.jl"))
+include(joinpath("main_components", "sparseldu.jl"))
+include(joinpath("main_components", "mechanism_struct.jl"))
+include(joinpath("main_components", "mechanism_functions.jl"))
 
+include(joinpath("joints", "abstract_joint.jl"))
+
+include(joinpath("joints", "joint.jl"))
 include(joinpath("joints", "translational.jl"))
 include(joinpath("joints", "rotational.jl"))
 include(joinpath("joints", "genericjoint.jl"))
 include(joinpath("joints", "prototypes.jl"))
 
+include(joinpath("bounds", "bound.jl"))
 include(joinpath("bounds", "contact.jl"))
 include(joinpath("bounds", "impact.jl"))
 include(joinpath("bounds", "friction.jl"))
 
-include(joinpath("components", "equalityconstraint.jl"))
-include(joinpath("components", "inequalityconstraint.jl"))
-
-include(joinpath("util", "graph.jl"))
-include(joinpath("util", "storage.jl"))
-
-include(joinpath("components", "controller.jl"))
-
-include(joinpath("solver", "sparseldu.jl"))
-include(joinpath("components", "mechanism.jl"))
-include(joinpath("components", "linear_mechanism.jl"))
-include(joinpath("components", "mechanism_functions.jl"))
-include(joinpath("components", "mechanism_ui.jl"))
-include(joinpath("components", "simulate.jl"))
-include(joinpath("components", "initialize.jl"))
 include(joinpath("solver", "solverfunctions.jl"))
 include(joinpath("solver", "system.jl"))
 include(joinpath("solver", "initconstraints.jl"))
-
-include(joinpath("util", "urdf.jl"))
-
 include(joinpath("solver", "newton.jl"))
 include(joinpath("solver", "linesearch.jl"))
 
-
 include(joinpath("discretization", "SymplecticEuler.jl"))
 # include(joinpath("discretization", "ImplicitTrapezoid.jl"))
 
+include(joinpath("ui", "mechanism_ui.jl"))
+include(joinpath("ui", "simulate.jl"))
+include(joinpath("ui", "initialize.jl"))
+include(joinpath("ui", "urdf.jl"))
+
 
 end

src/bounds/bound.jl

@@ -1,6 +1,8 @@
 abstract type Bound{T} end
 
-Base.show(io::IO, bound::Bound) = summary(io, bound)
+function Base.show(io::IO, mime::MIME{Symbol("text/plain")}, bound::Bound{T}) where {T}
+    summary(io, bound)
+end
 
 @inline getT(bound::Bound{T}) where T = T
 

src/bounds/friction.jl

@@ -2,9 +2,9 @@ mutable struct Friction{T} <: Contact{T}
     Nx::Adjoint{T,SVector{6,T}}
     D::SMatrix{2,6,T,12}
     cf::T
-    b::SVector{2,T}
     offset::SVector{6,T}
-
+    b::SVector{2,T}
+
 
     function Friction(body::Body{T}, normal::AbstractVector, cf::Real; offset::AbstractVector = zeros(3)) where T
         @assert cf>0
@@ -18,10 +18,19 @@ mutable struct Friction{T} <: Contact{T}
         D = [[V1 V2];szeros(3,2)]'
         offset = [offset;0.0;0.0;0.0]
 
-        new{T}(Nx, D, cf, zeros(2),offset), body.id
+        new{T}(Nx, D, cf, offset, zeros(2)), body.id
     end
 end
 
+function Base.show(io::IO, mime::MIME{Symbol("text/plain")}, constraint::Friction{T}) where {T}
+    summary(io, constraint)
+    println(io,"")
+    println(io, " Nx:     "*string(constraint.Nx))
+    println(io, " D:      "*string(constraint.D))
+    println(io, " cf:     "*string(constraint.cf))
+    println(io, " offset: "*string(constraint.offset))
+end
+
 
 @inline additionalforce(friction::Friction) = friction.D'*friction.b
 @inline function calcFrictionForce!(mechanism, ineqc, friction::Friction, i, body::Body)

src/bounds/impact.jl

@@ -15,3 +15,10 @@ mutable struct Impact{T} <: Contact{T}
         new{T}(Nx, offset), body.id
     end
 end
+
+function Base.show(io::IO, mime::MIME{Symbol("text/plain")}, constraint::Impact{T}) where {T}
+    summary(io, constraint)
+    println(io,"")
+    println(io, " Nx:     "*string(constraint.Nx))
+    println(io, " offset: "*string(constraint.offset))
+end