tobolar

Redesign FreeMotionScalarInit

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Close #2556 ## Summary by CodeRabbit - **New Features** - Introduced a new example model showcasing a planar mechanism simulation with enhanced joint initialization options, including configurable angles and velocities....

Improve inheritance of MultiBody constraints

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Refs https://github.com/modelica/ModelicaStandardLibrary/issues/3739 The intension is to rearrange PR #4091 in smaller and better evaluable portions in order to implement "selective model extension" approach after that, see also https://github.com/modelica/ModelicaStandardLibrary/pull/4091#issuecomment-1800338161 More PRs...

This PR especially 1. fixes senseless assertions like ``` assert( body.r_0[2] - body.r_0[2] < tol ...); ``` (so comparing the variable `body.r_0[2]` to itself). Fixing this, the assertion is triggered...

Declare tolerance as MSL constant

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Close #4193

Reintroduce Arrow as a visualization shape

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Reintroduce `Arrow` as a common visualization object, similar to a box or a sphere. In the MultiBody, this PR uses the `Arrow` now for visualization of axes of coordinate system...

Improve inheritance in MultiBody using selective model extension

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A first draft for #3739 using "selective model extension" introduced in ModelicaSpec 3.6. See also comment https://github.com/modelica/ModelicaStandardLibrary/pull/4091#issuecomment-1801329028. The approach implemented here is to reduce the number of possible base classes...

Improve inheritance of MultiBody forces

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Refs https://github.com/modelica/ModelicaStandardLibrary/issues/3739 This is the next PR to #4227. I've also performed partial regression tests of multibody examples. No difference to reference resutls indicated.

Use mustBeConnected annotation in Sensors

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See also #4204

Improve inheritance of classes in MultiBody

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Closes #3739

Broken link to 3-Clause BSD license on modelica.org

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The link to the 3-Clause BSD license on https://modelica.org/licenses/modelica-3-clause-bsd seems to be broken (after the webpage relaunch): https://github.com/modelica/ModelicaStandardLibrary/blob/d3ad60c312774a1bf84a74e830ccd55abcfb09d2/Modelica/package.mo#L2829