tobolar

A chance is to calculate infinitesimal rotations from the angular velocity vector `w` which already is a part of the orientation object R. I will check this.

I've realized the usage of `Mechanics.MultiBody.Visualizers.Advanced.Arrow` inside of `Mechanics.MultiBody.World` leads to a recursion issue since `Arrow` itself uses `outer world`. A solution could be to define `Mechanics.MultiBody.Visualizers.Internal.Arrow` which do not...

> This is just normal code refactoring without selective model extension, right? Exactly! This is a pre-step to #4231 to make some meaningful changes from PR #4091 first (which I've...

> @MartinOtter , could you please review this PR? IMO @beutlich could also do. See his comment https://github.com/modelica/ModelicaStandardLibrary/pull/4091#pullrequestreview-1340107880 which refers to changes related MBS constraints (which this PR is about)....

> The change from 1e-4 to Modelica.Constants.eps is massive. I made a small test with System Modeler, and to my big surprise the asserts were not triggered, despite the new...

> Several different modeling ways are compared in a simulation. Signals are computed in the order of the relative tolerance, so the correct way would be something like tol =...

> There are now lots of unrelated changes in graphic coordinates. Please remove. Sorry for this. Fixed now.

> Thus to me it would make sense to instead have two tolerances in the model: rtol (position) and vtol (velocity), even if they have the same value. I can...

@HansOlsson Sorry, I was not aware of it.

> I noticed that it still a draft and many of the partial models in Modelica.Mechanics.MultiBody.Interfaces haven't been updated. Yes, this it just a first try and concerns on purpose...