Merge pull request #196 from JuliaComputing/no_mtkmodel

WIP use MTK compiler

Author: baggepinnen

Project.toml

@@ -7,52 +7,55 @@ version = "0.3.2"
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
 DataInterpolations = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
 FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
-JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MeshIO = "7269a6da-0436-5bbc-96c2-40638cbb6118"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
+OrdinaryDiffEqNonlinearSolve = "127b3ac7-2247-4354-8eb6-78cf4e7c58e8"
+OrdinaryDiffEqRosenbrock = "43230ef6-c299-4910-a778-202eb28ce4ce"
+OrdinaryDiffEqTsit5 = "b1df2697-797e-41e3-8120-5422d3b24e4a"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [weakdeps]
-Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
+Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 JuliaFormatter = "98e50ef6-434e-11e9-1051-2b60c6c9e899"
 LightXML = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 MetaGraphsNext = "fa8bd995-216d-47f1-8a91-f3b68fbeb377"
 
-
 [extensions]
 Render = ["Makie"]
 URDF = ["LightXML", "Graphs", "MetaGraphsNext", "JuliaFormatter"]
 
 [compat]
 CoordinateTransformations = "0.6"
-DataInterpolations = "5, 6"
+DataInterpolations = "8"
 FileIO = "1"
 Graphs = "1.0"
 JuliaFormatter = "1.0"
-JuliaSimCompiler = "0.1.12"
 LightXML = "0.9"
 LinearAlgebra = "1.6"
-MeshIO = "0.4"
+MeshIO = "0.4, 0.5"
 MetaGraphsNext = "0.7"
-ModelingToolkit = "9"
+ModelingToolkit = "10"
 ModelingToolkitStandardLibrary = "2.7.2"
+OrdinaryDiffEqNonlinearSolve = "1.14.1"
+OrdinaryDiffEqRosenbrock = "1.17.0"
+OrdinaryDiffEqTsit5 = "1.5.0"
 Rotations = "1.4"
 SparseArrays = "1"
 StaticArrays = "1"
 julia = "1"
 
 [extras]
-OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
-Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 JuliaFormatter = "98e50ef6-434e-11e9-1051-2b60c6c9e899"
 LightXML = "9c8b4983-aa76-5018-a973-4c85ecc9e179"
-Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 MetaGraphsNext = "fa8bd995-216d-47f1-8a91-f3b68fbeb377"
+OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
 test = ["OrdinaryDiffEq", "Test", "JuliaFormatter", "LightXML", "Graphs", "MetaGraphsNext"]

docs/Project.toml

@@ -3,7 +3,6 @@ ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 ControlSystemsMTK = "687d7614-c7e5-45fc-bfc3-9ee385575c88"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
-JuliaSimCompiler = "8391cb6b-4921-5777-4e45-fd9aab8cb88d"
 Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
 ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"

docs/src/examples/free_motion.md

@@ -5,7 +5,7 @@ This example demonstrates how a free-floating [`Body`](@ref) can be simulated. T
 using Multibody
 using ModelingToolkit
 using Plots
-using JuliaSimCompiler
+# using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t
@@ -18,7 +18,7 @@ world = Multibody.world
 eqs = [connect(world.frame_b, freeMotion.frame_a)
        connect(freeMotion.frame_b, body.frame_a)]
 
-@named model = ODESystem(eqs, t,
+@named model = System(eqs, t,
                          systems = [world;
                                     freeMotion;
                                     body])
@@ -60,7 +60,7 @@ eqs = [connect(bar2.frame_a, world.frame_b)
        connect(spring1.frame_a, world.frame_b)
        connect(body.frame_b, spring2.frame_b)]
 
-@named model = ODESystem(eqs, t,
+@named model = System(eqs, t,
                          systems = [
                              world,
                              body,

docs/src/examples/gearbox.md

@@ -10,7 +10,7 @@ The [`GearConstraint`](@ref) has two rotational axes which do not have to be par
 using Multibody
 using ModelingToolkit
 using Plots
-using JuliaSimCompiler
+# using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t
@@ -46,7 +46,7 @@ eqs = [connect(world.frame_b, gearConstraint.bearing)
        connect(mounting1D.flange_b, torque2.support)
        connect(fixed.frame_b, mounting1D.frame_a)]
 
-@named model = ODESystem(eqs, t, systems = [world; systems])
+@named model = System(eqs, t, systems = [world; systems])
 cm = complete(model)
 ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys, [

docs/src/examples/gyroscopic_effects.md

@@ -11,7 +11,7 @@ The system consists of a pendulum suspended in a spherical joint, a joint withou
 using Multibody
 using ModelingToolkit
 using Plots
-using JuliaSimCompiler
+# using JuliaSimCompiler
 using OrdinaryDiffEq
 
 t = Multibody.t
@@ -36,7 +36,7 @@ connections = [
     connect(trans.frame_b, body2.frame_a)
 ]
 
-@named model = ODESystem(connections, t, systems = [world; systems])
+@named model = System(connections, t, systems = [world; systems])
 model = complete(model)
 ssys = structural_simplify(multibody(model))
 

docs/src/examples/kinematic_loops.md

@@ -29,7 +29,7 @@ import ModelingToolkitStandardLibrary.Mechanical.Rotational
 using Plots
 using OrdinaryDiffEq
 using LinearAlgebra
-using JuliaSimCompiler
+# using JuliaSimCompiler
 
 t = Multibody.t
 D = Differential(t)
@@ -73,7 +73,7 @@ connections = [
     connect(j2.support, damper2.flange_b)
     
 ]
-@named fourbar = ODESystem(connections, t, systems = [world; systems])
+@named fourbar = System(connections, t, systems = [world; systems])
 fourbar = complete(fourbar)
 ssys = structural_simplify(multibody(fourbar))
 prob = ODEProblem(ssys, [fourbar.j1.phi => 0.1], (0.0, 10.0))
@@ -144,7 +144,7 @@ connections = [connect(j2.frame_b, b2.frame_a)
                connect(b0.frame_a, world.frame_b)
                connect(b0.frame_b, j2.frame_a)
                ]
-@named fourbar2 = ODESystem(connections, t, systems = [world; systems])
+@named fourbar2 = System(connections, t, systems = [world; systems])
 fourbar2 = complete(fourbar2)
 ssys = structural_simplify(multibody(fourbar2))
 
@@ -185,7 +185,7 @@ connections = [connect(j2.frame_b, b2.frame_a)
                connect(b3.frame_b, j2.frame_a)
 ]
 
-@named fourbar_analytic = ODESystem(connections, t, systems = [world; systems])
+@named fourbar_analytic = System(connections, t, systems = [world; systems])
 fourbar_analytic = complete(fourbar_analytic)
 ssys_analytic = structural_simplify(multibody(fourbar_analytic))
 prob = ODEProblem(ssys_analytic, [], (0.0, 1.4399))