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.