<!-- GENERATED by tools/generators/examplesDocsEmitter.py from python/ - do not edit -->
(testmodels-rotationmarkerdeprecationtest)=
# rotationMarkerDeprecationTest.py

You can view and download this file on Github: [rotationMarkerDeprecationTest.py](https://github.com/jgerstmayr/EXUDYN/tree/master/python/TestModels/rotationMarkerDeprecationTest.py)

```{code-block} python
:linenos:

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# This is an EXUDYN example
#
# Details:  The rotation of a joint or connector frame is given to its markers, as localHT (#2745):
#           a body on a GenericJoint and a body on a RigidBodySpringDamper, each turned once by
#           rotationMarker0/1 and once by the localHT of the markers, move the same; the
#           RigidBodySpringDamper applies rotationMarker0 on the same side as all joints (#2801).
#           rotationMarker0/1 are deprecated: setting one other than the unit matrix warns where it is
#           added, once per session and name - every time with exu.special.deprecations.warnOnce = False -
#           and every use is counted in exu.sys['deprecationUse']['items'] (#2804, #2806). GetJointArgs
#           with a rotation for an existing marker uses no deprecated parameter.
#
# Author:   Johannes Gerstmayr
# Date:     2026-10-03
#
# Copyright:This file is part of Exudyn. Exudyn is free software. You can redistribute it and/or modify it under the terms of the Exudyn license. See 'LICENSE.txt' for more details.
#
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

import exudyn as exu
from exudyn.utilities import *
import numpy as np
import warnings
import os

testIsActive = exu.sys.get('testIsActive', False)

A0 = RotationMatrixX(0.3) @ RotationMatrixY(0.5) #the joint frame on the ground
A1 = RotationMatrixZ(-0.4) @ RotationMatrixX(0.2) #the joint frame on the body
Ab = A0 @ A1.T #the body, turned so that both joint frames agree in the reference configuration
pb = -Ab @ np.array([-0.2, 0, 0]) #and its marker at the origin

def ItemUses():
    """all recorded uses of deprecated item parameters"""
    return sum(exu.sys.get('deprecationUse', {}).get('items', {}).values())

def Model(mbs):
    oGround = mbs.AddObject(ObjectGround())
    inertia = InertiaCuboid(density=1000, sideLengths=[0.4, 0.1, 0.1])
    node = mbs.AddNode(NodeRigidBodyEP(referenceCoordinates=list(pb) + list(RotationMatrix2EulerParameters(Ab)),
                                       initialVelocities=[0]*7))
    body = mbs.AddObject(ObjectRigidBody(nodeNumber=node, mass=inertia.Mass(), inertia=inertia.GetInertia6D()))
    return (oGround, node, body)

def Simulate(useLocalHT, connector):
    SC = exu.SystemContainer()
    mbs = SC.AddSystem()
    (oGround, node, body) = Model(mbs)
    if useLocalHT:
        m0 = mbs.AddMarker(MarkerBodyRigid(bodyNumber=oGround, localHT=exu.HT(rotation=A0)))
        m1 = mbs.AddMarker(MarkerBodyRigid(bodyNumber=body, localHT=exu.HT(rotation=A1, translation=[-0.2, 0, 0])))
        rotations = {}
    else:
        m0 = mbs.AddMarker(MarkerBodyRigid(bodyNumber=oGround, localPosition=[0, 0, 0]))
        m1 = mbs.AddMarker(MarkerBodyRigid(bodyNumber=body, localPosition=[-0.2, 0, 0]))
        rotations = {'rotationMarker0': A0, 'rotationMarker1': A1}
    with warnings.catch_warnings():
        warnings.simplefilter('ignore', DeprecationWarning)
        if connector:
            k = 2000.
            mbs.AddObject(RigidBodySpringDamper(markerNumbers=[m0, m1], stiffness=np.diag([k, 2*k, 3*k, 0.1*k, 0.2*k, 0.3*k]),
                                                damping=np.diag([1, 1, 1, 0.1, 0.1, 0.1]), **rotations))
        else:
            mbs.AddObject(GenericJoint(markerNumbers=[m0, m1], constrainedAxes=[1, 1, 1, 1, 1, 0], **rotations))
    mbs.AddLoad(LoadForceVector(markerNumber=mbs.AddMarker(MarkerBodyPosition(bodyNumber=body, localPosition=[0.2, 0, 0])),
                                loadVector=[0, -10, 5]))
    mbs.Assemble()

    simulationSettings = exu.SimulationSettings()
    simulationSettings.timeIntegration.newton.useModifiedNewton = False #Just for the test; modified Newton is usually faster
    simulationSettings.timeIntegration.numberOfSteps = 200
    simulationSettings.timeIntegration.endTime = 0.2
    simulationSettings.timeIntegration.verboseMode = 0
    simulationSettings.solution.file.write = False
    mbs.SolveDynamic(simulationSettings)
    return np.array(mbs.GetNodeOutput(node, exu.OutputVariableType.Coordinates))

errors = 0
u = 0.
#the same motion with the rotation in the markers and in the deprecated parameters; only the latter is recorded
for connector in [False, True]:
    used = ItemUses()
    qLocalHT = Simulate(True, connector)
    if ItemUses() != used:
        errors += 1
    qRotationMarker = Simulate(False, connector)
    if ItemUses() != used + 2: #rotationMarker0 and rotationMarker1
        errors += 1
    exu.Print('connector' if connector else 'joint', ': difference localHT - rotationMarker =', np.linalg.norm(qLocalHT - qRotationMarker))
    if np.linalg.norm(qLocalHT - qRotationMarker) > 1e-10:
        errors += 1
    u += np.sum(qLocalHT)

#the warning: at the line that adds the item, once per session and name, or on every use
deprecations = exu.special.deprecations
warnOnceStored = deprecations.warnOnce
SC = exu.SystemContainer()
mbs = SC.AddSystem()
(oGround, node, body) = Model(mbs)
m0 = mbs.AddMarker(MarkerBodyRigid(bodyNumber=oGround))
m1 = mbs.AddMarker(MarkerBodyRigid(bodyNumber=body, localPosition=[-0.2, 0, 0]))
nWarnings = []
for warnOnce in [True, False]:
    deprecations.warnOnce = warnOnce
    deprecations.Reset() #as if the session had just started
    with warnings.catch_warnings(record=True) as caught:
        warnings.simplefilter('always')
        for i in range(3):
            mbs.AddObject(GenericJoint(markerNumbers=[m0, m1], constrainedAxes=[0]*6, rotationMarker0=A0))
    found = [entry for entry in caught if issubclass(entry.category, DeprecationWarning)]
    nWarnings.append(len(found))
    if any('ObjectJointGeneric: the parameter rotationMarker0' not in str(entry.message)
           or os.sep + 'exudyn' + os.sep in entry.filename for entry in found):
        errors += 1 #the message names item and parameter, the warning points at this script, not into Exudyn
deprecations.warnOnce = warnOnceStored
exu.Print('warnings, once per session and on every use:', nWarnings)
if nWarnings != [1, 3]:
    errors += 1

#GetJointArgs turns a copy of the existing marker instead of passing rotationMarker0 on
used = ItemUses()
args = GetJointArgs(mbs, markerNumber0=m0, rotationMarker0=A0, bodyNumber1=body)
mbs.AddObject(RevoluteJointZ(**args))
if ItemUses() != used or 'rotationMarker0' in args:
    errors += 1

exu.Print('rotationMarkerDeprecationTest: errors', errors)
u += errors
exu.Print('solution of rotationMarkerDeprecationTest=', u)

exu.sys['testResult'] = u
```