Fix performance issues + update of release notes

ModiaSim · Feb 23, 2022 · 16fd37c · 16fd37c
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commit 16fd37c
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diff --git a/Manifest.toml b/Manifest.toml
@@ -195,9 +195,9 @@ version = "2.20.1"
 
 [[deps.DiffEqJump]]
 deps = ["ArrayInterface", "Compat", "DataStructures", "DiffEqBase", "FunctionWrappers", "Graphs", "LinearAlgebra", "PoissonRandom", "Random", "RandomNumbers", "RecursiveArrayTools", "Reexport", "StaticArrays", "TreeViews", "UnPack"]
-git-tree-sha1 = "ec1f3a5b4eac6502e45dcf79d213b200afd61990"
+git-tree-sha1 = "e30f058eb600407e3fd4ea082e2527e3a3671238"
 uuid = "c894b116-72e5-5b58-be3c-e6d8d4ac2b12"
-version = "8.2.0"
+version = "8.2.1"
 
 [[deps.DiffEqNoiseProcess]]
 deps = ["DiffEqBase", "Distributions", "LinearAlgebra", "Optim", "PoissonRandom", "QuadGK", "Random", "Random123", "RandomNumbers", "RecipesBase", "RecursiveArrayTools", "Requires", "ResettableStacks", "SciMLBase", "StaticArrays", "Statistics"]
@@ -578,15 +578,15 @@ version = "0.7.3"
 
 [[deps.ModiaBase]]
 deps = ["DataFrames", "DiffRules", "LinearAlgebra", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "RecursiveFactorization", "StaticArrays", "TimerOutputs", "Unitful"]
-git-tree-sha1 = "9e678c9f7ce692bb30855083b83fa35db09c0d32"
+git-tree-sha1 = "e32f09c491f569f254d3c7776326539f4b3c5f24"
 uuid = "ec7bf1ca-419d-4510-bbab-199861c55244"
-version = "0.9.1"
+version = "0.9.2"
 
 [[deps.ModiaLang]]
 deps = ["DataFrames", "DifferentialEquations", "FiniteDiff", "ForwardDiff", "InteractiveUtils", "JSON", "Measurements", "ModiaBase", "ModiaResult", "MonteCarloMeasurements", "OrderedCollections", "Printf", "Reexport", "StaticArrays", "Sundials", "Test", "TimerOutputs", "Unitful"]
-git-tree-sha1 = "30a6da396a763673608bb94bf90683daec9adc6e"
+git-tree-sha1 = "c3167743de35eb2aaf4b86985c086d86dfebfdba"
 uuid = "34b37210-eaa3-4b48-8781-0b87bf559981"
-version = "0.11.1"
+version = "0.11.2"
 
 [[deps.ModiaResult]]
 deps = ["DataFrames", "Measurements", "MonteCarloMeasurements", "OrderedCollections", "Pkg", "Tables", "Unitful"]
@@ -707,9 +707,9 @@ version = "0.4.0"
 
 [[deps.Polyester]]
 deps = ["ArrayInterface", "BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "ManualMemory", "PolyesterWeave", "Requires", "Static", "StrideArraysCore", "ThreadingUtilities"]
-git-tree-sha1 = "93b829eedfc466c844c233f285fae94dcaa1870a"
+git-tree-sha1 = "2232d3865bc9a098e664f69cbe340b960d48217f"
 uuid = "f517fe37-dbe3-4b94-8317-1923a5111588"
-version = "0.6.5"
+version = "0.6.6"
 
 [[deps.PolyesterWeave]]
 deps = ["BitTwiddlingConvenienceFunctions", "CPUSummary", "IfElse", "Static", "ThreadingUtilities"]
@@ -851,9 +851,9 @@ version = "0.1.0"
 
 [[deps.SLEEFPirates]]
 deps = ["IfElse", "Static", "VectorizationBase"]
-git-tree-sha1 = "3a5ae1db486e4ce3ccd2b392389943481e20401f"
+git-tree-sha1 = "61a96d8b89083a53fb2b745f3b59a05359651bbe"
 uuid = "476501e8-09a2-5ece-8869-fb82de89a1fa"
-version = "0.6.29"
+version = "0.6.30"
 
 [[deps.SciMLBase]]
 deps = ["ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "RecipesBase", "RecursiveArrayTools", "StaticArrays", "Statistics", "Tables", "TreeViews"]
@@ -913,9 +913,9 @@ version = "0.4.1"
 
 [[deps.StaticArrays]]
 deps = ["LinearAlgebra", "Random", "Statistics"]
-git-tree-sha1 = "95c6a5d0e8c69555842fc4a927fc485040ccc31c"
+git-tree-sha1 = "6354dfaf95d398a1a70e0b28238321d5d17b2530"
 uuid = "90137ffa-7385-5640-81b9-e52037218182"
-version = "1.3.5"
+version = "1.4.0"
 
 [[deps.Statistics]]
 deps = ["LinearAlgebra", "SparseArrays"]
@@ -953,9 +953,9 @@ version = "6.44.0"
 
 [[deps.StrideArraysCore]]
 deps = ["ArrayInterface", "CloseOpenIntervals", "IfElse", "LayoutPointers", "ManualMemory", "Requires", "SIMDTypes", "Static", "ThreadingUtilities"]
-git-tree-sha1 = "2025a5d6564a93fa5b499dd216c0bc44537fb0d4"
+git-tree-sha1 = "e0a02838565c4600ecd1d8874db8cfe263aaa6c7"
 uuid = "7792a7ef-975c-4747-a70f-980b88e8d1da"
-version = "0.2.11"
+version = "0.2.12"
 
 [[deps.StructArrays]]
 deps = ["Adapt", "DataAPI", "StaticArrays", "Tables"]

diff --git a/Project.toml b/Project.toml
@@ -32,7 +32,7 @@ FileIO = "1"
 JSON = "0.21"
 Measurements = "2"
 MeshIO = "0.4.10"
-ModiaLang = "0.11.1"
+ModiaLang = "0.11.2"
 MonteCarloMeasurements = "1"
 OrderedCollections = "1"
 Reexport = "1.0"

diff --git a/docs/src/index.md b/docs/src/index.md
@@ -55,19 +55,15 @@ Non-backwards compatible changes
 - Operator `buildModia3D(..)` is removed. Instead, the new constructor `Model3D(..)` must be used at the top level of a
   Modia3D definition. It is now possible to define several, independent multibody systems 
   (currently, only one of them can have animation and animation export).
-
 - If init/start vectors are defined (e.g. initial state of a FreeMotion joint), they must be defined as SVector{3,Float64}(..).
-  Otherwise, errors occur during compilation.
-
-- Requires ModiaLang Version 0.11
-
+  Otherwise, errors occur during compilation. 
 
 Other changes
 
+- All test models changed, due to the non-backwards compatible change.
 - Code generation changed significantly, in order that the interface to Modia3D functions is type stable.
   As a result, simulation is more efficient and much less memory is allocated during simulation.
-
-- All test models changed, due to the non-backwards compatible change
+- Efficiency improvements for collisions (less memory is allocated during simulation + faster simulation).
 
 
 ### Version 0.8.2

diff --git a/src/Composition/dynamics.jl b/src/Composition/dynamics.jl
@@ -352,7 +352,7 @@ while LinearEquationsIteration(_leq, <...>)
 end
 ```
 """
-function computeGeneralizedForces!(mbs::MultibodyData{F}, _leq)::MultibodyData{F} where {F}
+function computeGeneralizedForces!(mbs::MultibodyData{F,TimeType}, _leq)::MultibodyData{F,TimeType} where {F,TimeType}
     instantiatedModel = mbs.instantiatedModel  
     TimerOutputs.@timeit instantiatedModel.timer "Modia3D computeGeneralizedForces!" begin
         storeResult   = instantiatedModel.storeResult

diff --git a/src/Composition/joints/joints.jl b/src/Composition/joints/joints.jl
@@ -29,6 +29,8 @@ mutable struct MultibodyData{F <: Modia3D.VarFloatType, TimeType}
     nz::Int                                   # Number of used zero crossing functions
     time::TimeType                            # Current time
 
+    freeMotionResiduals::Vector{F}  
+
     # for multibodyAccelerations
     leq::Vector{ModiaBase.LinearEquations{F}}
 
@@ -39,7 +41,9 @@ mutable struct MultibodyData{F <: Modia3D.VarFloatType, TimeType}
                              revoluteObjects, prismaticObjects, freeMotionObjects,
                              zeros(F, length(revoluteObjects)), zeros(F, length(prismaticObjects)), zeros(SVector{3,F}, 2*length(freeMotionObjects)),
                              zeros(F, length(revoluteObjects)), zeros(F, length(prismaticObjects)), zeros(SVector{3,F}, 2*length(freeMotionObjects)), 
-                             zStartIndex, nz, Modia3D.convertAndStripUnit(TimeType, u"s", time), ModiaBase.LinearEquations{F}[])
+                             zStartIndex, nz, Modia3D.convertAndStripUnit(TimeType, u"s", time), 
+                             zeros(F, 2*3*length(freeMotionObjects)),
+                             ModiaBase.LinearEquations{F}[])
 end
 
 mutable struct MultibodyBuild{F <: Modia3D.VarFloatType, TimeType}
@@ -466,8 +470,8 @@ end
 
 Copy states of the revolute joints into the corresponding Object3Ds.
 """
-@inline function setStatesRevolute!(mbs::MultibodyData{F}, args::Vararg{F,NJOINTS_TIMES_2})::MultibodyData{F} where {F,NJOINTS_TIMES_2}
-    @assert(NJOINTS_TIMES_2 == 2*length(mbs.revoluteObjects))
+function setStatesRevolute!(mbs::MultibodyData{F,TimeType}, args::Vararg{F})::MultibodyData{F,TimeType} where {F,TimeType}
+    @assert(length(args) == 2*length(mbs.revoluteObjects))
     scene = mbs.scene
     j = 1
     @inbounds for obj in mbs.revoluteObjects
@@ -485,8 +489,8 @@ end
 
 Copy states of the prismatic joints into the corresponding Object3Ds.
 """
-@inline function setStatesPrismatic!(mbs::MultibodyData{F}, args::Vararg{F,NJOINTS_TIMES_2})::MultibodyData{F} where {F,NJOINTS_TIMES_2}
-    @assert(NJOINTS_TIMES_2 == 2*length(mbs.prismaticObjects))
+function setStatesPrismatic!(mbs::MultibodyData{F,TimeType}, args::Vararg{F})::MultibodyData{F,TimeType} where {F,TimeType}
+    @assert(length(args) == 2*length(mbs.prismaticObjects))
     scene = mbs.scene
     j = 1
     @inbounds for obj in mbs.prismaticObjects
@@ -504,8 +508,8 @@ end
 
 Copy states of the free motion joints into the corresponding Object3Ds.
 """
-@inline function setStatesFreeMotion!(mbs::MultibodyData{F}, args::Vararg{SVector{3,F},NJOINTS_TIMES_4})::MultibodyData{F} where {F,NJOINTS_TIMES_4}
-    @assert(NJOINTS_TIMES_4 == 4*length(mbs.freeMotionObjects))
+function setStatesFreeMotion!(mbs::MultibodyData{F,TimeType}, args::Vararg{SVector{3,F}})::MultibodyData{F,TimeType} where {F,TimeType}
+    @assert(length(args) == 4*length(mbs.freeMotionObjects))
     scene = mbs.scene
     j = 1
     @inbounds for obj in mbs.freeMotionObjects
@@ -525,8 +529,8 @@ end
 
 Copy isrot123 of the free motion joints into the corresponding Object3Ds.
 """
-@inline function setStatesFreeMotion_isrot123!(mbs::MultibodyData{F}, args::Vararg{Bool,NJOINTS})::MultibodyData{F} where {F,NJOINTS}
-    @assert(NJOINTS == length(mbs.freeMotionObjects))
+function setStatesFreeMotion_isrot123!(mbs::MultibodyData{F,TimeType}, args::Vararg{Bool})::MultibodyData{F,TimeType} where {F,TimeType}
+    @assert(length(args) == length(mbs.freeMotionObjects))
     scene = mbs.scene
     @inbounds for (i,obj) in enumerate(mbs.freeMotionObjects)
         scene.freeMotion[obj.jointIndex].isrot123 = args[i]
@@ -540,8 +544,8 @@ end
 
 Copy accelerations of revolute joints into mbs.
 """
-@inline function setAccelerationsRevolute!(mbs::MultibodyData{F}, args::Vararg{F,NJOINTS}) where {F,NJOINTS}
-    @assert(NJOINTS == length(mbs.revoluteObjects))
+function setAccelerationsRevolute!(mbs::MultibodyData{F,TimeType}, args::Vararg{F}) where {F,TimeType}
+    @assert(length(args) == length(mbs.revoluteObjects))
     scene = mbs.scene
     @inbounds for (i,obj) in enumerate(mbs.revoluteObjects)
         scene.revolute[obj.jointIndex].a = args[i]
@@ -555,8 +559,8 @@ end
 
 Copy accelerations of prismatic joints into mbs.
 """
-@inline function setAccelerationsPrismatic!(mbs::MultibodyData{F}, args::Vararg{F,NJOINTS}) where {F,NJOINTS}
-    @assert(NJOINTS == length(mbs.prismaticObjects))
+function setAccelerationsPrismatic!(mbs::MultibodyData{F,TimeType}, args::Vararg{F}) where {F,TimeType}
+    @assert(length(args) == length(mbs.prismaticObjects))
     scene = mbs.scene
     @inbounds for (i,obj) in enumerate(mbs.prismaticObjects)
         scene.prismatic[obj.jointIndex].a = args[i]
@@ -570,8 +574,8 @@ end
 
 Copy accelerations of free motion joints into mbs
 """
-@inline function setAccelerationsFreeMotion!(mbs::MultibodyData{F}, args::Vararg{SVector{3,F},NJOINTS_TIMES_2}) where {F,NJOINTS_TIMES_2}
-    @assert(NJOINTS_TIMES_2 == 2*length(mbs.freeMotionObjects))
+function setAccelerationsFreeMotion!(mbs::MultibodyData{F,TimeType}, args::Vararg{SVector{3,F}}) where {F,TimeType}
+    @assert(length(args) == 2*length(mbs.freeMotionObjects))
     scene = mbs.scene
     j = 1
     @inbounds for obj in mbs.freeMotionObjects
@@ -583,32 +587,41 @@ Copy accelerations of free motion joints into mbs
     return mbs
 end
 
-
 """
     (tau1,tau2,<...>) = getGenForcesRevolute(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N}
 
 Return generalized forces of revolute joints as NTuple.
 """
-@inline getGenForcesRevolute(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N} = ntuple(i->mbs.revoluteGenForces[i], Val(N))
+#getGenForcesRevolute(mbs::MultibodyData{F,TimeType}) where {F,TimeType} = mbs.revoluteGenForces
+getGenForcesRevolute(mbs::MultibodyData{F,TimeType}, ::Val{N}) where {F,TimeType,N} = ntuple(i->mbs.revoluteGenForces[i], Val(N))
 
 
 """
     (f1,f2,<...>) = getGenForcesPrismatic(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N}
 
 Return generalized forces of prismatic joints as NTuple.
 """
-@inline getGenForcesPrismatic(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N} = ntuple(i->mbs.prismaticGenForces[i], Val(N))
+#getGenForcesPrismatic(mbs::MultibodyData{F,TimeType}) where {F,TimeType} = mbs.prismaticGenForces
+getGenForcesPrismatic(mbs::MultibodyData{F,TimeType}, ::Val{N}) where {F,TimeType,N} = ntuple(i->mbs.prismaticGenForces[i], Val(N))
 
 
 """
-    (genf1,gent1,genf2,gent2,<...>) = getGenForcesFreeMotion(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N}
+    residuals = getGenForcesFreeMotion(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N}
 
-Return generalized forces of free motion joints as NTuple.
+Return generalized forces of free motion joints as Vector to be used for residuals vector.
 """
-@inline getGenForcesFreeMotion(mbs::MultibodyData{F}, ::Val{N}) where {F <: Modia3D.VarFloatType,N} = ntuple(i->mbs.freeMotionGenForces[i], Val(N))
-
-
-
+function getGenForcesFreeMotion(mbs::MultibodyData{F,TimeType})::Vector{F} where {F,TimeType}
+    res = mbs.freeMotionResiduals
+    j = 1
+    @assert(length(res) == 3*length(mbs.freeMotionGenForces))
+    @inbounds for vec in mbs.freeMotionGenForces
+        res[j]   = vec[1]
+        res[j+1] = vec[2]
+        res[j+2] = vec[3]
+        j += 3
+    end
+    return res
+end
 
 
 # For backwards compatibility (do not use for new models)

diff --git a/src/Modia3D.jl b/src/Modia3D.jl
@@ -5,7 +5,7 @@ module Modia3D
 
 const path = dirname(dirname(@__FILE__))   # Absolute path of package directory
 const Version = "0.9.0"
-const Date = "2022-02-21"
+const Date = "2022-02-23"
 
 println("\nImporting Modia3D Version $Version ($Date)")
 

diff --git a/src/ModiaInterface/buildModia3D.jl b/src/ModiaInterface/buildModia3D.jl
@@ -225,7 +225,7 @@ function buildModia3D!(model::AbstractDict, FloatType::Type, TimeType::Type,
             end
             if length(jointAccelerationsFreeMotion2) > 0
                 NFreeMotion2 = 2*NFreeMotion
-                push!(mbs_equations, :( ($(jointForcesFreeMotion2...), ) = implicitDependency(Modia3D.getGenForcesFreeMotion($mbsi, Val($NFreeMotion2)), $(jointAccelerationsFreeMotion2...)) ))
+                push!(mbs_equations, :( ($(jointForcesFreeMotion2...), ) = implicitDependency(Modia3D.getGenForcesFreeMotion($mbsi), $(jointAccelerationsFreeMotion2...)) ))
                 mbs_variables[mbsi] = Var(hideResult=true)                    
             end