change final states of collision models

test/Collision/Billard16Balls.jl

@@ -86,10 +86,9 @@ Ball = Model(
 )
 
 Billard = Model(
-    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=9.81, n=[0, 0, -1]),
+    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=9.81, n=[0, 0, -1]), mpr_tol_rel = 1.0e-18,
                                    enableContactDetection=true,
-                                   nominalLength=0.15*TableX,
-                                   animationFile="Billard16Balls.json")),
+                                   nominalLength=0.15*TableX)), # animationFile="Billard16Balls.json"
     table = Table,
     cushion = Cushion,
     ball0 = Ball,
@@ -165,8 +164,8 @@ stopTime = 5.0
 testTime = 1.5
 tolerance = 1e-7
 interval = 0.001
-requiredFinalStates = [0.9336946243629118, -0.18365520174670474, 0.029998496991356247, -0.7011746198909901, 0.6311295647736829, 1.1287610685608916e-6, -13.537433737049488, -0.3858748206785683, -51.74321001761849, 10.647446137520763, -27.86255858188846, -9.957728295667122, 0.32509152711043904, 0.027780203284739517, 0.029997667930081795, -0.04542743305030694, 0.02500170283086513, 7.062399855287814e-8, 0.9625529100121986, -0.5890320882437217, 1.5160600432975857, -0.8636537095656692, -0.04474632782683813, 1.4954319791715307, 0.39301955928437254, 0.31437311545523294, 0.029997559985557257, -0.0295450598735267, 0.25844118748219774, 6.543232669438406e-8, -7.838021100027451, -0.22760408431777734, 4.052129880389039e-5, -8.613971169221236, -0.015367180725959132, 0.9844568913082455, 0.3526376383583441, -0.14575202949834226, 0.029998721807484585, -0.05704334595170738, -0.09087467006012945, -8.648550230091023e-8, 6.463720232117719, 0.5613406381152121, -0.6619441310051621, 3.0283371525415186, -0.011031122590753485, 1.901031014930388, 0.47669958004172114, 0.30988266338557435, 0.029997421574535003, -0.0006779043504506098, 0.22297266655607906, 2.9010253957924976e-8, -6.65506642882509, -0.004145772945978028, 0.0028226662531805786, -7.4316293203593204, -7.298765565151683e-5, 0.022599728211138887, 0.3783007120971173, -0.012766185812833935, 0.029998759358176016, -0.04494536278891231, -0.018632373536778858, -7.215437557767047e-8, 1.6943216570588908, 0.19414146703780452, 3.298010373792468, -0.3471933000846414, -0.13201026537226748, 1.577730264308742, 0.46331163648978807, -0.09389324485553788, 0.029998896770933176, -0.0016188042316731567, -0.0037739593426910373, -2.5503675848459563e-9, 2.6598529884755653, 0.23804363229547723, 0.3872083559790523, 0.1248900591032485, 0.00033968828158966596, 0.05356980525109636, 0.5432807165029493, 0.2953230757760231, 0.02999730653311251, -0.13624873106020685, -0.18205262515847373, 1.9858018516413702e-7, -5.40642875525656, -0.19653356814243264, 0.09370138552443177, 6.331724950526496, -3.5125692661867474, 2.2385800870275046, 0.5280895349790748, 0.02944513078495663, 0.029997345184240368, -3.671897262472209e-15, -3.6295581814805492e-12, -1.2427691187347466e-15, 1.5884011771883515, 0.00047788925223401856, 0.045046404635795685, 8.53157003717906e-11, -3.8442455469304e-12, 1.2714782913701774e-13, 0.5298393427066304, -0.03176029891751437, 0.029999002794942116, 1.297965371269723e-12, -7.63423453026827e-13, 3.722976278613608e-18, 1.6241627081677217, -0.00011555321024985877, -0.0050541325338022604, 1.7967580704217367e-11, -1.5382972866683138e-12, -3.0499570729309535e-11, 0.5382383412758586, -0.09514048819597622, 0.02999893580898303, 1.3155505360211643e-12, -8.821797446529922e-13, -7.043094683356967e-16, 1.7309170721863256, -0.022807794119219644, -0.28238846622282227, 2.063596477748024e-11, 8.485564273716919e-13, -3.1023757752800775e-11, 0.592498670205686, 0.3681019267809226, 0.029997236420195104, 0.15727976960938742, -0.019558871461817822, -2.644518715680437e-7, -6.163065667728738, 0.37981142806747936, -0.058040028743833724, 0.5349948316934143, 5.243907614414163, -0.34169516938674743, 0.6344294601093406, 0.0669304999587428, 0.029997172347095737, -0.7614223443828724, 0.006309955741959036, 1.2183649383003493e-6, 1.558857816712138, 0.0042029171671443275, -0.7644036324349628, -0.0191002690729473, -0.4380898296432406, 25.377516875983996, 0.7646288540762318, -0.10696914113095653, 0.029998770268321002, 0.15911209364889162, -0.09298081830712687, -2.5596316103907114e-7, 1.9073899574938322, -0.10513813819059165, -6.883833037985919, 3.0989440441527623, 3.5085557038592837e-6, -5.30302146889589, 0.7873220523004107, -0.17884965224773064, 0.029998733802261777, 0.18239453271826178, -0.10527370713656753, -2.9340175118245415e-7, 2.1544182053207317, -0.43508216020191737, -7.5519516937515325, 3.508723323843255, -9.174029482795626e-7, -6.0791204764983995, 0.7976238621443168, -0.24490123678673625, 0.02999869521225786, 0.19303854447667773, -0.11142219870901685, -1.791306576517481e-7, 2.1859628103222946, -0.6263874799512511, -7.873271866785609, 3.7136784821321944, -4.152815543679789e-7, -6.433930426076936]
-simulate!(billard, stopTime=testTime, tolerance=tolerance, interval=interval, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [0.9333661393766369, -0.18381562888712827, 0.029998497688391915, -0.7014362417219272, 0.6310009997544462, 1.1290899588689932e-6, -13.565404070825176, -0.381058964756716, -51.75885657438144, 10.537345277549955, -27.735368779239312, -10.430136200221227, 0.3250638168669772, 0.027712197685071317, 0.029997668116143905, -0.04558267651330124, 0.024882899734608332, 7.08708375292526e-8, 0.965416714333456, -0.5889389817950592, 1.5175095706521067, -0.8627353305843296, -0.050338947235934135, 1.4988260115560812, 0.3929917006965645, 0.3144655526735176, 0.02999756004737067, -0.02957166616376027, 0.2585362147819237, 6.546959176824667e-8, -7.841172993119799, -0.22772933488389074, -0.00031937205113484224, -8.617138862383795, -0.0153761661581909, 0.9853435747006696, 0.3526558673248896, -0.14526528920171633, 0.029998721894158267, -0.056974608242212996, -0.09040531529599616, -8.644860926138948e-8, 6.455235000096263, 0.5697009425702483, -0.6662857408704342, 3.012693173834483, -0.010923114750204998, 1.8987373661439921, 0.4766983392310379, 0.30995639701896677, 0.029997421593076824, -0.0006790472397150304, 0.2230484330415847, 2.9007914762965347e-8, -6.657481205058328, -0.004158194262967625, 0.0028237265472410952, -7.4341549376124965, -7.354492897781964e-5, 0.0226378054711174, 0.37858459379997833, -0.01303304126802059, 0.029998759898762013, -0.04454851388162656, -0.018598671965046183, -7.152403071858711e-8, 1.7002544724045368, 0.19886559468786247, 3.2892872463916563, -0.3413889150764648, -0.14290695554767294, 1.5650562024658172, 0.46333085370780364, -0.09385847703246966, 0.029998896916633183, -0.0016023154034459151, -0.003736631228246453, -2.524756751505809e-9, 2.658771952706271, 0.2375361890551339, 0.38685341623759373, 0.12364571680165906, 0.00033631987729715405, 0.05302026303612267, 0.5432830285468065, 0.29528415239802475, 0.029997306522725007, -0.1361340886884427, -0.18217533682898493, 1.9837453065516486e-7, -5.405252316032075, -0.19683033148976267, 0.09405739322728604, 6.335836054778727, -3.508750848458166, 2.2362775359298994, 0.5279576840249166, 0.029411604271573133, 0.029997345534074352, -2.0097480807390374e-20, 6.630238551643466e-21, -7.852186594481353e-16, 1.5894787461282525, 0.0005510984167413897, 0.04940034311617822, -1.4726489653714904e-19, 1.6298099217397075e-20, 4.819327329807566e-19, 0.5298457116337745, -0.031876469837529606, 0.029999002929103884, 6.441996653051123e-21, 2.044078647259606e-21, 7.478575748967392e-16, 1.6280210741379746, -0.00013021384141367968, -0.005265784765458889, -6.303145274641481e-20, -9.155654576004988e-21, -1.540158056949745e-19, 0.5382254132148557, -0.09513309283457251, 0.029998935946514784, -2.4353611016104665e-19, 1.1480757656293768e-19, -3.402512648485731e-16, 1.7306808428774456, -0.022739317690155147, -0.28196399908821645, -2.7292648305085957e-18, 1.860055121430653e-19, 5.876967232455233e-18, 0.592522307113131, 0.368128230829464, 0.029997236390732995, 0.15718315723461718, -0.019429213295171666, -2.642803208328939e-7, -6.163666213388699, 0.38062391948289315, -0.05791773996043013, 0.5307694564582713, 5.240733887108378, -0.3393612241165449, 0.6345581404814613, 0.06693110909072808, 0.029997172271377055, -0.7610317598699818, 0.006309980725063319, 1.2177417150428154e-6, 1.5589113127222334, 0.004251050614008636, -0.7683880059515366, -0.019236388490959964, -0.43789479945224935, 25.364498817249434, 0.7644490357187969, -0.10686411031544148, 0.029998770706948247, 0.15892605579721072, -0.09287215208524814, -2.5564504515598876e-7, 1.904457619305972, -0.1031523714772522, -6.878100110409454, 3.095322174103587, 3.4875825666557394e-6, -5.296819787141439, 0.7873764400470138, -0.17888103685815732, 0.029998733869831, 0.18245039270778482, -0.10530593919198675, -2.934692365195682e-7, 2.154753570394882, -0.4360610751585018, -7.553586183876722, 3.5097973316114093, -1.098206217365888e-6, -6.0809827701210315, 0.7977083789714665, -0.24495001552925505, 0.02999869529308616, 0.19312533440021248, -0.11147228664501829, -1.7918625043209475e-7, 2.1859222338974504, -0.6279787289271236, -7.876052995028591, 3.7153480112389947, -1.3327607189387022e-6, -6.436823566539937]
+simulate!(billard, stopTime=testTime, tolerance=tolerance, interval=interval, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(billard, ["joint0.r" "joint0.rot"; "joint0.v" "joint0.w"], figure=1)

test/Collision/Billard4Balls.jl

@@ -115,7 +115,7 @@ testTime = 2.5
 tolerance = 1e-8
 interval = 0.0001
 requiredFinalStates = [-0.06367465272629756, 0.24238657622364665, 0.02999809758732255, -0.8055793547583174, 0.5049384414649515, -1.2942520100327887e-6, -41.98758798677127, 1.0302592492754234, -61.383962718912315, 7.327199670112295, 30.778026759406714, -1.8364952739701552, -0.15196276181074325, 0.179157995489763, 0.029997955278049118, -0.5749051726066565, 0.19607773653519803, -9.23765746465685e-7, 1.823582864167988, -0.11082435017660355, 18.026385421294833, -6.535777886518464, 3.361853105628269e-5, 19.163080641737785, 0.415730418200003, -0.25313065448897354, 0.02999753001826395, -0.004216104905417898, -0.49464670233658653, 3.901393071314717e-9, 11.54177678780837, 0.005646322377435987, 0.011097198279087365, 16.486263237425984, -0.25596215953403123, -0.026989059565206447, 0.15504140104701092, -0.18658321851036563, 0.029997948409715088, -0.297314286397064, -0.176662447164565, 4.779910373218372e-7, 0.9427627045555219, 0.6640319309374063, 12.884489822750403, -2.1107480248530672, -5.435105655586106, 9.944019158456165]
-simulate!(billard, stopTime=testTime, tolerance=tolerance, interval=interval, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+simulate!(billard, stopTime=testTime, tolerance=tolerance, interval=interval, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(billard, ["joint0.r" "joint0.rot"; "joint0.v" "joint0.w"], figure=1)

test/Collision/BouncingBeams.jl

@@ -80,8 +80,8 @@ bouncingBeams = @instantiateModel(buildModia3D(BouncingBeams), unitless=true, lo
 
 stopTime = 1.2
 tolerance = 1e-8
-requiredFinalStates = [-0.8823695490633129, 1.665391474522192, 0.04799938397293286, -1.0204351804781866, 0.43467213487238104, -0.05300623034434308, 4.594448165765738, 1.48458962376636, -1.5821822875254883, -8.616696059760667, -0.38077326260409977, 0.4606687533750722, 0.04448291563173141, -0.8635203337074655, 1.6627077970537474, -0.049200694422998424, -0.8870648971101465, 0.40291237892093623, 3.2801065817877686, 0.1345412028139165, -1.597965173809505, 0.541296269597139, -7.6554365382890746, -0.5338918826110308, 1.9235100250337558, 0.10167700504201196, -1.3991207821301785, 1.5242500783672102, 0.07788755980354922, -3.4667039460822022, -2.7882122968930343, 0.12494117610295302, 4.331872438738044, 1.9861239477070278, -2.898970671344765, 1.0516923739870323]
-simulate!(bouncingBeams, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [-0.8263521589113617, 1.6556214390497919, 0.04317349406175776, -0.519437377848517, 0.3117728241063305, -0.04195225652181148, 4.481871408047987, 1.2472352973128984, -1.4833427135714758, -5.743718568793708, -0.5563464573524693, 0.6775553584977084, 0.04352893572571521, -0.8427016302018774, 1.658821049586814, -0.04462317976858583, -0.7244166216422334, 0.3647498757776394, 3.3819643323506665, 0.13300591418859095, -1.6265447569135538, 0.7048282778118946, -6.382261451514867, -0.7121100652630898, 1.9270674418477596, 0.07151125755482043, -1.5112112210129487, 1.5545851452913053, 0.00981264862243235, -3.785593015594227, -2.6804336155553288, 0.20616084009806535, 5.30872523707291, -1.3074304809968607, -2.7888646900960685, 4.298089432264489]
+simulate!(bouncingBeams, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingBeams, [("jointX.r", "jointY.r", "jointZ.r") ("jointX.rot", "jointY.rot", "jointZ.rot")

test/Collision/BouncingCapsules.jl

@@ -71,8 +71,8 @@ bouncingCapsules = @instantiateModel(buildModia3D(BouncingCapsules), unitless=tr
 
 stopTime = 1.7
 tolerance = 1e-8
-requiredFinalStates = [-0.7964020579786201, 1.078911664590739, 0.23035071499249554, -0.11077716509170218, 0.4796475444580211, -0.08226573462808072, 2.944349048428646, -0.22998195076361025, 1.5634033775705642, 2.4243768357473545, 0.1525224150890733, -0.038478509902694046, 0.22862096684511138, -0.7970870633627486, 1.080611113333237, -0.06458397074339108, -0.11429374835354875, 0.4851467302974838, 3.3855692118273724, 0.19162868836235442, -1.6236815609521178, -0.06476968434945787, 2.4344563197987243, 0.25547076791303613, 1.0818397999295593, 0.22945161590171845, -0.7966147351633047, 0.4853706855582012, -0.07080711655835899, -0.09965214358471511, -1.5640102628973194, 0.198677718499869, 3.386466629188658, 0.2183469805758011, -0.05750372064225383, 2.441900102029629]
-simulate!(bouncingCapsules, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [-0.7965194324923187, 1.0792671324200518, 0.22983676627347815, -0.1039097850692818, 0.4814176273397363, -0.07448832005070478, 2.944368266298714, -0.23188092804556582, 1.5637806069044045, 2.4254147963752337, 0.1958593686673586, -0.049049991414040636, 0.22982554355367993, -0.7965131155676861, 1.0792581962112746, -0.07973508965627857, -0.11418691979366435, 0.48039300578570787, 3.377894872964063, 0.19183612343753909, -1.6238015814380535, -0.0420638591264601, 2.4255988934027917, 0.1666656948426664, 1.0793274621567706, 0.23012495483972084, -0.7967193671718964, 0.4805756438722489, -0.07905877747249435, -0.12952010214850182, -1.5655006683501074, 0.19873974775783254, 3.3726826053720087, 0.17806826424566943, -0.04410873189732083, 2.426030228460745]
+simulate!(bouncingCapsules, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingCapsules, [("jointX.r", "jointY.r", "jointZ.r") ("jointX.rot", "jointY.rot", "jointZ.rot")

test/Collision/BouncingCones.jl

@@ -69,10 +69,10 @@ bouncingCones = @instantiateModel(buildModia3D(BouncingCones), unitless=true, lo
 #@show bouncingCones.parameterExpressions
 #@show bouncingCones.parameters
 
-stopTime = 1.3
+stopTime = 1.2
 tolerance = 1e-8
-requiredFinalStates = [-0.8002799390065646, 1.0059964298604027, 0.39039287407921686, -0.025430996181140066, 0.6630234043302788, 0.004309151343939569, 1.4686527860326997, 1.1368340779745558, 1.689846158106513, 3.3149879046571797, -0.06960222124441125, 0.1504261450316327, 0.3903893470590204, -0.8003514923828058, 1.0070415055199, 0.0011832492706785752, -0.055916265529015616, 0.6653193436925052, 2.717877804098592, -0.026017382314878938, -1.5277965562323037, 0.13944370362475916, 3.325930468488853, -0.09546231236269272, 1.0069646410862858, 0.3901947305115851, -0.8003618381020178, 0.6653930682717618, -6.006508633896099e-5, -0.0588692411973017, -1.6206623791265042, -0.006015411115857988, 2.717355681962454, -0.10225978390299145, 0.1363774922811096, 3.3263550311419343]
-simulate!(bouncingCones, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [-0.7966975786520888, 0.939985832590693, 0.38951809262163817, 0.008283684681695894, 0.6658233515495816, 0.0036360762130771824, 1.5168127712425896, 0.809516683182946, 1.6309255834121132, 3.326610309487532, -0.09442757282865713, 0.1303056174217491, 0.3895556675053645, -0.7966982542294878, 0.939989290934488, 0.0035470907869790593, 0.0092555728573629, 0.6658258352729927, 2.381830853536271, -0.021037308472438263, -1.533543880143283, 0.1309791419088494, 3.326660575823015, -0.09374545764051212, 0.939978985399097, 0.3893676586735939, -0.7967319752002895, 0.6658573796203757, 0.0038700820465069068, 0.005146202892539086, -1.612281246246739, 0.010392303991357257, 2.3818260851771695, -0.09767677033008831, 0.12731399635504168, 3.3267904560140074]
+simulate!(bouncingCones, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingCones, [("jointX.r", "jointY.r", "jointZ.r") ("jointX.rot", "jointY.rot", "jointZ.rot")

test/Collision/BouncingEllipsoid.jl

@@ -32,10 +32,10 @@ bouncingEllipsoid = @instantiateModel(buildModia3D(BouncingEllipsoid), unitless=
 #@show bouncingEllipsoid.parameterExpressions
 #@show bouncingEllipsoid.parameters
 
-stopTime = 2.5
+stopTime = 2.0
 tolerance = 1e-8
-requiredFinalStates = [-0.8720220901260356, -2.706225861204731, 2.1494619380602984, -0.6654182338218089, -7.480644002905684, 0.8158622722948691, 19.6901637595772, -0.5127178856804271, 0.5844275371325878, 7.417393481447869, -0.15143390608966664, -0.19610822193495095]
-simulate!(bouncingEllipsoid, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [-0.45515799147473335, 0.05676993769652407, 1.178459912041914, -0.10966302200496965, -0.367365395565088, 0.2903115082177484, 8.759390647284498, -1.3086676277009546, -2.341163220615624, -0.10934417069415246, -1.1736634425032262, -5.6404159425069835]
+simulate!(bouncingEllipsoid, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingEllipsoid, ["free.r" "free.rot"; "free.v" "free.w"], figure=1)

test/Collision/BouncingSphere.jl

@@ -38,7 +38,7 @@ stopTime = 2.2
 dtmax = 0.1
 tolerance = 1e-8
 requiredFinalStates = [0.019503466051339055, 0.10092549068481711]
-simulate!(bouncingSphere, stopTime=stopTime, tolerance=tolerance, dtmax=dtmax, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+simulate!(bouncingSphere, stopTime=stopTime, tolerance=tolerance, dtmax=dtmax, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingSphere, ["prism.s", "prism.v"], figure=1)

test/Collision/BouncingSphereFreeMotion.jl

@@ -38,8 +38,8 @@ bouncingSphere = @instantiateModel(buildModia3D(BouncingSphere), unitless=true,
 
 stopTime = 2.7
 tolerance = 1e-8
-requiredFinalStates = [0.28711931505126853, -0.9780916472966511, -0.20833195055744314, 0.10925258092251605, -3.8123627743313273, -0.9364166852211897, 1.228619049097046, -0.5724547180688829, 0.22566245156307535, -7.694985753129207, 0.3826986158402523, 5.519005772512668]
-simulate!(bouncingSphere, stopTime=stopTime, tolerance=tolerance, log=true, logStates=true, logEvents=true, requiredFinalStates=requiredFinalStates)
+requiredFinalStates = [0.293772074878505, -1.2391513658578504, -0.11411843291553968, 0.11420129485535506, -4.417120013752265, -0.8579844538520917, 2.5996315776217718, -0.42018472064783946, 0.10773235538046359, -7.2176708654581585, 0.8693271212008165, 4.766350077776115]
+simulate!(bouncingSphere, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
 
 @usingModiaPlot
 plot(bouncingSphere, ["free.r" "free.rot"; "free.v" "free.w"], figure=1)