docs rendering updates

JuliaComputing · Oct 28, 2023 · a326d05 · a326d05
1 parent 39ba81c
commit a326d05
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Showing 6 changed files with 20 additions and 7 deletions.
diff --git a/docs/make.jl b/docs/make.jl
@@ -11,6 +11,7 @@ makedocs(;
          #  strict = [:example_block, :setup_block, :eval_block],
          sitename = "Multibody.jl",
          warnonly = [:missing_docs, :cross_references, :example_block, :docs_block],
+         pagesonly = true,
          format = Documenter.HTML(;
                                   prettyurls = get(ENV, "CI", nothing) == "true",
                                   edit_link = nothing),

diff --git a/docs/src/examples/pendulum.md b/docs/src/examples/pendulum.md
@@ -68,13 +68,13 @@ The solution `sol` can be plotted directly if the Plots package is loaded. The f
 ## 3d Animation
 Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature to illustrate the result of the simulation below:
 
-```@example spring_mass_system
+```@example pendulum
 import CairoMakie # GLMakie is another alternative, suitable for interactive plots
 Multibody.render(model, sol; z = -5, filename = "pendulum.gif") # Use "pendulum.mp4" for a video file
 nothing # hide
 ```
 
-![animation](spherical.gif)
+![animation](pendulum.gif)
 
 By default, the world frame is indicated using the convention x: red, y: green, z: blue.
 
@@ -214,7 +214,7 @@ sol = solve(prob, Rodas4())
 plot(sol, layout=4)
 ```
 
-```@example spring_mass_system
+```@example pendulum
 import CairoMakie
 Multibody.render(model, sol, z=-5, R = Rotations.RotXYZ(-0.8,0.3,0)', filename = "furuta.gif")
 nothing # hide

diff --git a/docs/src/examples/spherical_pendulum.md b/docs/src/examples/spherical_pendulum.md
@@ -25,7 +25,10 @@ connections = [connect(world.frame_b, joint.frame_a)
 @named model = ODESystem(connections, t, systems = [world; systems])
 ssys = structural_simplify(IRSystem(model))
 
-prob = ODEProblem(ssys, [], (0, 10))
+prob = ODEProblem(ssys, [
+                    D.(joint.phi) .=> 0;
+                    D.(D.(joint.phi)) .=> 0;
+], (0, 10))
 
 sol = solve(prob, Rodas4())
 @assert SciMLBase.successful_retcode(sol)

diff --git a/docs/src/examples/spring_damper_system.md b/docs/src/examples/spring_damper_system.md
@@ -56,6 +56,7 @@ ssys = structural_simplify(IRSystem(model))
 prob = ODEProblem(ssys,
                   [D.(body1.phi) .=> 0;
                    D.(D.(body1.phi)) .=> 0;
+                   D.(body1.phid) .=> 0;
                    D(p2.s) => 0;
                    D(D(p2.s)) => 0;
                    damper1.d => 2], (0, 10))
@@ -81,5 +82,8 @@ Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature
 
 ```@example spring_damper_system
 import CairoMakie
-Multibody.render(model, sol; z = -5, filename = "springdamper.mp4")
+Multibody.render(model, sol; z = -5, filename = "springdamper.gif")
+nothing # hide
 ```
+
+![animation](springdamper.gif)
diff --git a/docs/src/examples/spring_mass_system.md b/docs/src/examples/spring_mass_system.md
@@ -63,5 +63,8 @@ Multibody.jl supports automatic 3D rendering of mechanisms, we use this feature
 
 ```@example spring_mass_system
 import CairoMakie
-Multibody.render(model, sol; z = -5, filename = "springmass.mp4")
+Multibody.render(model, sol; z = -5, filename = "springmass.gif")
+nothing # hide
 ```
+
+![animation](springmass.gif)
diff --git a/docs/src/examples/three_springs.md b/docs/src/examples/three_springs.md
@@ -37,7 +37,9 @@ eqs = [connect(world.frame_b, bar1.frame_a)
 
 @named model = ODESystem(eqs, t, systems = [world; systems])
 ssys = structural_simplify(IRSystem(model))
-prob = ODEProblem(ssys, [], (0, 10))
+prob = ODEProblem(ssys, [
+    D.(spring3.lineForce.r_rel_0) .=> 0;
+], (0, 10))
 
 sol = solve(prob, Rodas4(), u0=prob.u0 .+ 1e-1*randn(length(prob.u0)))
 @assert SciMLBase.successful_retcode(sol)