Commit 183e9d32 authored by Nicolas Docquier's avatar Nicolas Docquier
Browse files

Merge branch 'Release_1.9.4' into 'dev'

Release 1.9.4



See merge request !92
parents 88cfad8b c90ac11c
......@@ -45,6 +45,11 @@ tutorial_1_monolithic:
- cmake ..
- make
- ./exe_Bodies_and_Joints
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
tutorial_1_separate:
script:
......@@ -58,6 +63,11 @@ tutorial_1_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Bodies_and_Joints
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
tutorial_2_monolithic:
script:
......@@ -66,6 +76,12 @@ tutorial_2_monolithic:
- cmake ..
- make
- ./exe_Links
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_2_separate:
script:
......@@ -79,6 +95,12 @@ tutorial_2_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Links
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_3_monolithic:
script:
......@@ -87,6 +109,12 @@ tutorial_3_monolithic:
- cmake ..
- make
- ./exe_Cuts
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_3_separate:
script:
......@@ -100,6 +128,12 @@ tutorial_3_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Cuts
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_4_monolithic:
script:
......@@ -108,6 +142,13 @@ tutorial_4_monolithic:
- cmake ..
- make
- ./exe_Driven_variable
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_Qc_ref.res dirdyn_Qc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_4_separate:
script:
......@@ -121,6 +162,13 @@ tutorial_4_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Driven_variable
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_Qc_ref.res dirdyn_Qc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_5_monolithic:
script:
......@@ -129,6 +177,13 @@ tutorial_5_monolithic:
- cmake ..
- make
- ./exe_Sensors
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_5_separate:
script:
......@@ -142,6 +197,13 @@ tutorial_5_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Sensors
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_6_monolithic:
script:
......@@ -150,6 +212,13 @@ tutorial_6_monolithic:
- cmake ..
- make
- ./exe_External_Force
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_6_separate:
script:
......@@ -163,6 +232,13 @@ tutorial_6_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_External_Force
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_7_monolithic:
script:
......@@ -171,6 +247,13 @@ tutorial_7_monolithic:
- cmake ..
- make
- ./exe_Userconstraints
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_7_separate:
script:
......@@ -184,6 +267,13 @@ tutorial_7_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Userconstraints
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
tutorial_8_monolithic:
script:
......@@ -192,6 +282,15 @@ tutorial_8_monolithic:
- cmake ..
- make
- ./exe_Userderivatives
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
- diff -q dirdyn_ux_ref.res dirdyn_ux.res
- diff -q dirdyn_uxd_ref.res dirdyn_uxd.res
tutorial_8_separate:
script:
......@@ -205,6 +304,15 @@ tutorial_8_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Userderivatives
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q Vertical_Acc_ref.res Vertical_Acc.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
- diff -q dirdyn_ux_ref.res dirdyn_ux.res
- diff -q dirdyn_uxd_ref.res dirdyn_uxd.res
tutorial_9_monolithic:
script:
......@@ -213,6 +321,14 @@ tutorial_9_monolithic:
- cmake ..
- make
- ./exe_Tips
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
- diff -q Fdamper_ref.res Fdamper.res
- diff -q Fspring_ref.res Fspring.res
tutorial_9_separate:
script:
......@@ -226,3 +342,11 @@ tutorial_9_separate:
- cmake -DFLAG_SEPARATE_BUILD=ON ..
- make
- ./exe_Tips
- cd ../../resultsR
- diff -q dirdyn_q_ref.res dirdyn_q.res
- diff -q dirdyn_qd_ref.res dirdyn_qd.res
- diff -q dirdyn_qdd_ref.res dirdyn_qdd.res
- diff -q dirdyn_Qq_ref.res dirdyn_Qq.res
- diff -q dirdyn_linkF_ref.res dirdyn_linkF.res
- diff -q Fdamper_ref.res Fdamper.res
- diff -q Fspring_ref.res Fspring.res
## Changes for next release
## Robotran v1.9.4
* Add a python interface for driving the simulation via a python script (see MBsysC/readme_aux/interface_python.md and MBsysC/mbs_interface/mbs_python)
* Add the possibility to embed a MBsysC project in a simulink S-function (see example in MBsysC/mbs_interface/mbs_simulink)
* Enable a "separate build" mode for compiling. This enables to compile MBsysC modules only once. Then, only the project specific files (user functions, symbolic functions and main function) must be compiled for each project. The old fashion compiling (i.e. monolithic build) which compiles both MbsysC and project specific files together is still available and set as the default option in the CMakeLists.txt of a nex project. **This requires to adapt existing projects. In particular, CMakeLists.txt are added to userfctR and symbolicR folder. The CmakeLists.txt file in the workR folder is modified. Include in the userfct/realtime files are also modified.**
* Correct a bug that prevent loading *.mbs file after starting 3D visu because the decimal separator may be changed from dot to coma
* Use a uniform syntax for helpful functions that manage arrays and matrices. **This may require to adapt the name of those function if you use it in you user functions**. (see MBsysC/mbs_common/mbs_utilities/useful_functions.h )
* Add new modules for equilibrium and modal analysis
* Add the possiblity to animate auxiliary \*.mbs file in addition to the simulated one. The motion of the auxiliary \*.mbs must be computed by the user. **This modification requires to update the template files user_realtime_options.c and user_realtime_visu.c**
* update the findJNI and findJava CMake file for compatibility with java 8
* Use pre-processor flag LINUX rather than WIN32 for os specific part of code
......
......@@ -50,9 +50,13 @@ include_directories ( ${CMAKE_CURRENT_BINARY_DIR} )
if( FLAG_SHARED_LIB OR FLAG_SEPARATE_SYMBOLIC )
add_library(Project_symbolic SHARED ${SOURCE_FILES})
# MacOS: Force extension to be .so rather than .dylib
if(APPLE)
set_target_properties(Project_symbolic PROPERTIES SUFFIX .so)
endif()
else()
add_library(Project_symbolic STATIC ${SOURCE_FILES})
add_definitions( -DPROJECT_SYMBOLIC_STATIC_DEFINE)
add_definitions( -DPROJECT_USERFCT_STATIC_DEFINE)
# some symbolic routines call user functions (ext_forces, accelred, ...)
......
......@@ -83,9 +83,16 @@ if( FLAG_SHARED_LIB OR FLAG_SEPARATE_USER_FCT )
target_link_libraries (Project_userfct ${LIB_MBSYSC_REALTIME})
target_link_libraries (Project_userfct ${LIB_MBSYSC_MODULES})
target_link_libraries (Project_userfct ${LIB_MBSYSC_UTILITIES})
# MacOS: Force extension to be .so rather than .dylib
if(APPLE)
set_target_properties(Project_userfct PROPERTIES SUFFIX ".so")
endif()
else()
add_library(Project_userfct STATIC ${SOURCE_FILES})
add_definitions( -DMBSYSC_UTILITIES_STATIC_DEFINE)
add_definitions( -DPROJECT_SYMBOLIC_STATIC_DEFINE)
target_link_libraries (Project_userfct ${LIB_MBSYSC_REALTIME} ${LIB_MBSYSC_UTILITIES})
endif()
......
......@@ -17,7 +17,7 @@
#include "user_IO.h"
UserIO* mbs_new_user_IO()
UserIO* mbs_new_user_IO(UserIoInfo* ioInfo)
{
UserIO *uvs;
int i=0;
......
......@@ -70,7 +70,7 @@ set(CMAKE_MODULE_PATH ${ROBOTRAN_SOURCE_DIR}/conf)
# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
# Link to MBSysC lib already compiled
option (FLAG_SEPARATE_BUILD "Link to MBSysC lib already compiled" ON)
option (FLAG_SEPARATE_BUILD "Link to MBSysC lib already compiled" OFF)
# Link to symbolic files already compiled
option (FLAG_SEPARATE_SYMBOLIC "Link to symbolic files already compiled (if FLAG_SEPARATE_BUILD is ON)" OFF)
......
......@@ -50,9 +50,13 @@ include_directories ( ${CMAKE_CURRENT_BINARY_DIR} )
if( FLAG_SHARED_LIB OR FLAG_SEPARATE_SYMBOLIC )
add_library(Project_symbolic SHARED ${SOURCE_FILES})
# MacOS: Force extension to be .so rather than .dylib
if(APPLE)
set_target_properties(Project_symbolic PROPERTIES SUFFIX .so)
endif()
else()
add_library(Project_symbolic STATIC ${SOURCE_FILES})
add_definitions( -DPROJECT_SYMBOLIC_STATIC_DEFINE)
add_definitions( -DPROJECT_USERFCT_STATIC_DEFINE)
# some symbolic routines call user functions (ext_forces, accelred, ...)
......
......@@ -83,9 +83,16 @@ if( FLAG_SHARED_LIB OR FLAG_SEPARATE_USER_FCT )
target_link_libraries (Project_userfct ${LIB_MBSYSC_REALTIME})
target_link_libraries (Project_userfct ${LIB_MBSYSC_MODULES})
target_link_libraries (Project_userfct ${LIB_MBSYSC_UTILITIES})
# MacOS: Force extension to be .so rather than .dylib
if(APPLE)
set_target_properties(Project_userfct PROPERTIES SUFFIX ".so")
endif()
else()
add_library(Project_userfct STATIC ${SOURCE_FILES})
add_definitions( -DMBSYSC_UTILITIES_STATIC_DEFINE)
add_definitions( -DPROJECT_SYMBOLIC_STATIC_DEFINE)
target_link_libraries (Project_userfct ${LIB_MBSYSC_REALTIME} ${LIB_MBSYSC_UTILITIES})
endif()
......
......@@ -85,7 +85,7 @@ int main(int argc, char const *argv[])
mbs_dirdyn->options->save2file = 1;
mbs_dirdyn->options->respath = PROJECT_SOURCE_DIR"/../resultsR";
mbs_dirdyn->options->animpath = PROJECT_SOURCE_DIR"/../animationR";
mbs_dirdyn->options->realtime = 1;
mbs_dirdyn->options->realtime = 0;
mbs_run_dirdyn(mbs_dirdyn, mbs_data);
......
### resultsR folder
This folder contains the results of the simulations or other computations.
This folder contains the results of the simulations or other computations.
This folder also contains the reference solution of the simulation.
......@@ -56,6 +56,11 @@ include_directories ( ${CMAKE_CURRENT_BINARY_DIR} )
if( FLAG_SHARED_LIB OR FLAG_SEPARATE_SYMBOLIC )
add_library(Project_symbolic SHARED ${SOURCE_FILES})
# MacOS: Force extension to be .so rather than .dylib
if(APPLE)
set_target_properties(Project_symbolic PROPERTIES SUFFIX .so)
endif()
else()
add_library(Project_symbolic STATIC ${SOURCE_FILES})
add_definitions( -DPROJECT_SYMBOLIC_STATIC_DEFINE)
......
......@@ -89,6 +89,12 @@ if( FLAG_SHARED_LIB OR FLAG_SEPARATE_USER_FCT )
target_link_libraries (Project_userfct ${LIB_MBSYSC_REALTIME})
target_link_libraries (Project_userfct ${LIB_MBSYSC_MODULES})
target_link_libraries (Project_userfct ${LIB_MBSYSC_UTILITIES})
# MacOS: Force extension to be .so rather than .dylib
if(APPLE)
set_target_properties(Project_userfct PROPERTIES SUFFIX ".so")
endif()
else()
add_library(Project_userfct STATIC ${SOURCE_FILES})
add_definitions( -DMBSYSC_UTILITIES_STATIC_DEFINE)
......
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