Update shapes

.gitignore

@@ -4,4 +4,6 @@
 /.benchmarkci
 /benchmark/*.json
 /notes
-/testscripts
+/testscripts
+/examples/strandbeest.jl
+/examples/examples_files/strandbeest.urdf

examples/atlas.jl

@@ -3,7 +3,7 @@ using ConstrainedDynamicsVis
 
 
 path = "examples/examples_files/atlas_simple.urdf"
-mech, shapes = Mechanism(path, floating=false, g = -.5)
+mech = Mechanism(path, floating=false, g = -.5)
 
 storage = simulate!(mech, 10., record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)

examples/dice.jl

@@ -7,8 +7,6 @@ joint_axis = [1.0;0.0;0.0]
 
 length1 = 0.5
 width, depth = 0.5, 0.5
-box1 = Box(width, depth, length1, 1., color = RGBA(1., 1., 0.))
-b1 = Box(0.1, 0.1, .1, .1, color = RGBA(1., 0., 0.))
 
 # Corner vectors
 corners = [
@@ -28,7 +26,7 @@ q1 = UnitQuaternion(RotX(ϕ1))
 
 # Links
 origin = Origin{Float64}()
-link1 = Body(box1)
+link1 = Box(width, depth, length1, 1., color = RGBA(1., 1., 0.))
 
 # Constraints
 impacts = [InequalityConstraint(Friction(link1,[0;0;1.0], 0.2; p = corners[i])) for i=1:8]
@@ -38,15 +36,14 @@ joint0to1 = EqualityConstraint(Floating(origin, link1))
 links = [link1]
 eqcs = [joint0to1]
 ineqcs = impacts
-shapes = [box1]
 
 
-mech = Mechanism(origin, links, eqcs, ineqcs, shapes = shapes)
+mech = Mechanism(origin, links, eqcs, ineqcs)
 
 setPosition!(link1,x = [0.;-2;1.5])
 ωtemp = (rand(3) .- 0.5) * 100
 
 setVelocity!(link1,v = [0;3;7.],ω = ωtemp)
 
 storage = simulate!(mech, 10, record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)

examples/disconnected_bodies.jl

@@ -7,29 +7,26 @@ joint_axis = [1.0;0.0;0.0]
 
 length1 = 0.5
 width, depth = 0.5, 0.5
-box1 = Box(width, depth, length1, length1, color = RGBA(1., 1., 0.))
-box2 = Box(width, depth, length1, length1, color = RGBA(1., 0., 0.))
 
 # Links
 origin = Origin{Float64}()
-link1 = Body(box1)
-link2 = Body(box2)
+link1 = Box(width, depth, length1, length1, color = RGBA(1., 1., 0.))
+link2 = Box(width, depth, length1, length1, color = RGBA(1., 0., 0.))
 
 # Constraints
 joint1 = EqualityConstraint(Floating(origin, link1))
 joint2 = EqualityConstraint(Floating(origin, link2))
 
 links = [link1;link2]
 constraints = [joint1;joint2]
-shapes = [box1;box2]
 
 
-mech = Mechanism(origin, links, constraints, g = -5., shapes = shapes)
+mech = Mechanism(origin, links, constraints, g = -5.)
 setPosition!(link1,x = [0.;1.;0.])
 setPosition!(link2,x = [0.;-1.;0.])
 setVelocity!(link1,v = [-5.;-5;5])
 setVelocity!(link2,v = [-2.5;2.5;5],ω = [2;4;10.])
 
 
 storage = simulate!(mech, 10., record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)

examples/doublependulum_3d.jl

@@ -8,8 +8,6 @@ ex = [1.;0.;0.]
 l1 = 1.0
 l2 = sqrt(2) / 2
 x, y = .1, .1
-b1 = Box(x, y, l1, l1, color = RGBA(1., 1., 0.))
-b2 = Box(x, y, l2, l2, color = RGBA(1., 1., 0.))
 
 vert11 = [0.;0.;l1 / 2]
 vert12 = -vert11
@@ -22,21 +20,20 @@ q1 = UnitQuaternion(RotX(phi1))
 
 # Links
 origin = Origin{Float64}()
-link1 = Body(b1)
-link2 = Body(b2)
+link1 = Box(x, y, l1, l1, color = RGBA(1., 1., 0.))
+link2 = Box(x, y, l2, l2, color = RGBA(1., 1., 0.))
 
 # Constraints
 socket0to1 = EqualityConstraint(Spherical(origin, link1; p2=vert11))
 socket1to2 = EqualityConstraint(Spherical(link1, link2; p1=vert12, p2=vert21))
 
 links = [link1;link2]
 constraints = [socket0to1;socket1to2]
-shapes = [b1,b2]
 
 
-mech = Mechanism(origin, links, constraints, shapes = shapes)
+mech = Mechanism(origin, links, constraints)
 setPosition!(origin,link1,p2 = vert11,Δq = q1)
 setPosition!(link1,link2,p1 = vert12,p2 = vert21,Δq = inv(q1)*UnitQuaternion(RotY(0.2)))
 
 storage = simulate!(mech, 10., record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)

examples/doublependulum_disconnection.jl

@@ -7,7 +7,6 @@ ex = [1.;0.;0.]
 
 h = 1.
 r = .05
-b1 = Cylinder(r, h, h, color = RGBA(1., 0., 0.))
 
 vert11 = [0.;0.;h / 2]
 vert12 = -vert11
@@ -18,16 +17,14 @@ q1 = UnitQuaternion(RotX(phi))
 
 # Links
 origin = Origin{Float64}()
-links = [Body(b1) for i = 1:2]
+links = [Cylinder(r, h, h, color = RGBA(1., 0., 0.)) for i = 1:2]
 
 # Constraints
 jointb1 = EqualityConstraint(Revolute(origin, links[1], ex; p2=vert11))
 joint12 = EqualityConstraint(Revolute(links[1], links[2], ex; p1=vert12, p2=vert11))
 constraints = [jointb1;joint12]
 
-shapes = [b1]
-
-mech = Mechanism(origin, links, constraints;Δt = 0.01, shapes = shapes)
+mech = Mechanism(origin, links, constraints;Δt = 0.01)
 setPosition!(origin, links[1], p2 = vert11,Δq = q1)
 setPosition!(links[1], links[2], p1 = vert12, p2 = vert11)
 
@@ -38,4 +35,4 @@ function control!(mechanism,k)
 end
 
 storage = simulate!(mech, 10., control!,record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)

examples/doublependulum_urdf.jl

@@ -3,7 +3,7 @@ using ConstrainedDynamicsVis
 
 
 path = "examples/examples_files/doublependulum.urdf"
-mech, shapes = Mechanism(path)
+mech = Mechanism(path)
 
 storage = simulate!(mech, 10., record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)

examples/elliptic_joint.jl

@@ -7,11 +7,10 @@ using StaticArrays
 # Parameters
 length1 = 1.0
 width, depth = 0.1, 0.1
-box = Box(width, depth, length1, length1)
 
 # Links
 origin = Origin{Float64}()
-link1 = Body(box)
+link1 = Box(width, depth, length1, length1)
 
 
 @inline function g(joint::GenericJoint, xb::AbstractVector, qb::UnitQuaternion)
@@ -40,16 +39,15 @@ joint_between_origin_and_link1 = EqualityConstraint(GenericJoint{5}(origin,link1
 
 links = [link1]
 constraints = [joint_between_origin_and_link1]
-shapes = [box]
 
 
-mech = Mechanism(origin, links, constraints, shapes = shapes)
+mech = Mechanism(origin, links, constraints)
 setPosition!(link1,x=[0;0.0;2],q = UnitQuaternion(RotX(0)))
 setVelocity!(link1,v=[0;2.0;0])
 
 steps = Base.OneTo(1000)
 storage = Storage{Float64}(steps,1)
 
 simulate!(mech, storage, record = true)
-visualize(mech, storage, shapes)
+visualize(mech, storage)