Deprecate JointsMethod and Body

[tjstienstra]

References to other Issues or PRs

Deprecation has among other been discussed in #24256
Related issues to what is being deprecated #21964 #23269 #21965

Brief description of what is fixed or changed

This PR deprecates Body and JointsMethod as they have been fully replaced and are only causing issues.

Other comments

Release Notes

• physics.mechanics
  • BREAKING CHANGE: Deprecate Body class
  • BREAKING CHANGE: Deprecate JointsMethod

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• physics.mechanics

  • BREAKING CHANGE: Deprecate Body class (#26179 by @tjstienstra)

  • BREAKING CHANGE: Deprecate JointsMethod (#26179 by @tjstienstra)

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#### References to other Issues or PRs
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Deprecation has among other been discussed in #24256
Related issues to what is being deprecated #21964 #23269 #21965

#### Brief description of what is fixed or changed
This PR deprecates Body and JointsMethod as they have been fully replaced and are only causing issues.

#### Other comments


#### Release Notes

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<!-- BEGIN RELEASE NOTES -->
* physics.mechanics
  * BREAKING CHANGE: Deprecate Body class
  * BREAKING CHANGE: Deprecate JointsMethod
<!-- END RELEASE NOTES -->

Update

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  • doc/src/modules/physics/mechanics/api/body.rst

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[github-actions]

Benchmark results from GitHub Actions

Lower numbers are good, higher numbers are bad. A ratio less than 1
means a speed up and greater than 1 means a slowdown. Green lines
beginning with + are slowdowns (the PR is slower then master or
master is slower than the previous release). Red lines beginning
with - are speedups.

Significantly changed benchmark results (PR vs master)

Significantly changed benchmark results (master vs previous release)

| Change   | Before [a00718ba]    | After [ee891cad]    |   Ratio | Benchmark (Parameter)                                                |
|----------|----------------------|---------------------|---------|----------------------------------------------------------------------|
| -        | 68.9±1ms             | 44.2±0.2ms          |    0.64 | integrate.TimeIntegrationRisch02.time_doit(10)                       |
| -        | 67.1±2ms             | 43.3±0.2ms          |    0.64 | integrate.TimeIntegrationRisch02.time_doit_risch(10)                 |
| +        | 19.0±0.2μs           | 30.3±0.2μs          |    1.59 | integrate.TimeIntegrationRisch03.time_doit(1)                        |
| -        | 5.39±0.06ms          | 2.82±0.01ms         |    0.52 | logic.LogicSuite.time_load_file                                      |
| -        | 74.3±0.6ms           | 28.7±0.2ms          |    0.39 | polys.TimeGCD_GaussInt.time_op(1, 'dense')                           |
| -        | 25.8±0.1ms           | 17.0±0.1ms          |    0.66 | polys.TimeGCD_GaussInt.time_op(1, 'expr')                            |
| -        | 74.1±0.8ms           | 29.0±0.2ms          |    0.39 | polys.TimeGCD_GaussInt.time_op(1, 'sparse')                          |
| -        | 252±2ms              | 125±0.9ms           |    0.5  | polys.TimeGCD_GaussInt.time_op(2, 'dense')                           |
| -        | 259±2ms              | 125±0.5ms           |    0.48 | polys.TimeGCD_GaussInt.time_op(2, 'sparse')                          |
| -        | 650±4ms              | 370±0.6ms           |    0.57 | polys.TimeGCD_GaussInt.time_op(3, 'dense')                           |
| -        | 656±4ms              | 370±0.7ms           |    0.56 | polys.TimeGCD_GaussInt.time_op(3, 'sparse')                          |
| -        | 496±3μs              | 290±2μs             |    0.58 | polys.TimeGCD_LinearDenseQuadraticGCD.time_op(1, 'dense')            |
| -        | 1.82±0.02ms          | 1.05±0.01ms         |    0.58 | polys.TimeGCD_LinearDenseQuadraticGCD.time_op(2, 'dense')            |
| -        | 5.78±0.03ms          | 3.09±0.03ms         |    0.53 | polys.TimeGCD_LinearDenseQuadraticGCD.time_op(3, 'dense')            |
| -        | 453±7μs              | 230±0.5μs           |    0.51 | polys.TimeGCD_QuadraticNonMonicGCD.time_op(1, 'dense')               |
| -        | 1.49±0.01ms          | 676±6μs             |    0.45 | polys.TimeGCD_QuadraticNonMonicGCD.time_op(2, 'dense')               |
| -        | 4.97±0.03ms          | 1.66±0.01ms         |    0.33 | polys.TimeGCD_QuadraticNonMonicGCD.time_op(3, 'dense')               |
| -        | 384±4μs              | 208±2μs             |    0.54 | polys.TimeGCD_SparseGCDHighDegree.time_op(1, 'dense')                |
| -        | 2.44±0.02ms          | 1.24±0.01ms         |    0.51 | polys.TimeGCD_SparseGCDHighDegree.time_op(3, 'dense')                |
| -        | 10.0±0.05ms          | 4.35±0.04ms         |    0.43 | polys.TimeGCD_SparseGCDHighDegree.time_op(5, 'dense')                |
| -        | 358±2μs              | 170±1μs             |    0.47 | polys.TimeGCD_SparseNonMonicQuadratic.time_op(1, 'dense')            |
| -        | 2.47±0.01ms          | 921±6μs             |    0.37 | polys.TimeGCD_SparseNonMonicQuadratic.time_op(3, 'dense')            |
| -        | 9.62±0.05ms          | 2.71±0.02ms         |    0.28 | polys.TimeGCD_SparseNonMonicQuadratic.time_op(5, 'dense')            |
| -        | 1.05±0.01ms          | 435±4μs             |    0.41 | polys.TimePREM_LinearDenseQuadraticGCD.time_op(3, 'dense')           |
| -        | 1.72±0.01ms          | 504±5μs             |    0.29 | polys.TimePREM_LinearDenseQuadraticGCD.time_op(3, 'sparse')          |
| -        | 5.94±0.03ms          | 1.78±0.01ms         |    0.3  | polys.TimePREM_LinearDenseQuadraticGCD.time_op(5, 'dense')           |
| -        | 8.57±0.06ms          | 1.49±0.01ms         |    0.17 | polys.TimePREM_LinearDenseQuadraticGCD.time_op(5, 'sparse')          |
| -        | 285±1μs              | 64.5±0.4μs          |    0.23 | polys.TimePREM_QuadraticNonMonicGCD.time_op(1, 'sparse')             |
| -        | 3.39±0.03ms          | 397±5μs             |    0.12 | polys.TimePREM_QuadraticNonMonicGCD.time_op(3, 'dense')              |
| -        | 4.10±0.05ms          | 278±1μs             |    0.07 | polys.TimePREM_QuadraticNonMonicGCD.time_op(3, 'sparse')             |
| -        | 7.09±0.03ms          | 1.28±0.01ms         |    0.18 | polys.TimePREM_QuadraticNonMonicGCD.time_op(5, 'dense')              |
| -        | 8.78±0.05ms          | 839±7μs             |    0.1  | polys.TimePREM_QuadraticNonMonicGCD.time_op(5, 'sparse')             |
| -        | 5.00±0.02ms          | 2.96±0ms            |    0.59 | polys.TimeSUBRESULTANTS_LinearDenseQuadraticGCD.time_op(2, 'sparse') |
| -        | 12.2±0.03ms          | 6.53±0.03ms         |    0.53 | polys.TimeSUBRESULTANTS_LinearDenseQuadraticGCD.time_op(3, 'dense')  |
| -        | 22.4±0.06ms          | 9.10±0.05ms         |    0.41 | polys.TimeSUBRESULTANTS_LinearDenseQuadraticGCD.time_op(3, 'sparse') |
| -        | 5.22±0.02ms          | 868±7μs             |    0.17 | polys.TimeSUBRESULTANTS_QuadraticNonMonicGCD.time_op(1, 'sparse')    |
| -        | 12.8±0.05ms          | 7.00±0.03ms         |    0.55 | polys.TimeSUBRESULTANTS_QuadraticNonMonicGCD.time_op(2, 'sparse')    |
| -        | 103±0.4ms            | 25.6±0.1ms          |    0.25 | polys.TimeSUBRESULTANTS_QuadraticNonMonicGCD.time_op(3, 'dense')     |
| -        | 168±1ms              | 53.8±0.1ms          |    0.32 | polys.TimeSUBRESULTANTS_QuadraticNonMonicGCD.time_op(3, 'sparse')    |
| -        | 173±0.7μs            | 112±0.5μs           |    0.65 | polys.TimeSUBRESULTANTS_SparseGCDHighDegree.time_op(1, 'dense')      |
| -        | 362±1μs              | 212±0.7μs           |    0.59 | polys.TimeSUBRESULTANTS_SparseGCDHighDegree.time_op(1, 'sparse')     |
| -        | 4.23±0.01ms          | 834±7μs             |    0.2  | polys.TimeSUBRESULTANTS_SparseGCDHighDegree.time_op(3, 'dense')      |
| -        | 5.28±0.03ms          | 378±0.5μs           |    0.07 | polys.TimeSUBRESULTANTS_SparseGCDHighDegree.time_op(3, 'sparse')     |
| -        | 19.6±0.2ms           | 2.83±0.02ms         |    0.14 | polys.TimeSUBRESULTANTS_SparseGCDHighDegree.time_op(5, 'dense')      |
| -        | 22.8±0.3ms           | 624±2μs             |    0.03 | polys.TimeSUBRESULTANTS_SparseGCDHighDegree.time_op(5, 'sparse')     |
| -        | 480±2μs              | 133±0.9μs           |    0.28 | polys.TimeSUBRESULTANTS_SparseNonMonicQuadratic.time_op(1, 'sparse') |
| -        | 4.71±0.03ms          | 625±2μs             |    0.13 | polys.TimeSUBRESULTANTS_SparseNonMonicQuadratic.time_op(3, 'dense')  |
| -        | 5.26±0.02ms          | 139±2μs             |    0.03 | polys.TimeSUBRESULTANTS_SparseNonMonicQuadratic.time_op(3, 'sparse') |
| -        | 13.2±0.07ms          | 1.29±0ms            |    0.1  | polys.TimeSUBRESULTANTS_SparseNonMonicQuadratic.time_op(5, 'dense')  |
| -        | 13.8±0.1ms           | 141±0.6μs           |    0.01 | polys.TimeSUBRESULTANTS_SparseNonMonicQuadratic.time_op(5, 'sparse') |
| -        | 134±2μs              | 74.7±0.7μs          |    0.56 | solve.TimeMatrixOperations.time_rref(3, 0)                           |
| -        | 252±0.5μs            | 88.1±0.3μs          |    0.35 | solve.TimeMatrixOperations.time_rref(4, 0)                           |
| -        | 24.2±0.2ms           | 10.2±0.03ms         |    0.42 | solve.TimeSolveLinSys189x49.time_solve_lin_sys                       |
| -        | 28.4±0.1ms           | 15.4±0.05ms         |    0.54 | solve.TimeSparseSystem.time_linsolve_Aaug(20)                        |
| -        | 54.9±0.3ms           | 24.9±0.07ms         |    0.45 | solve.TimeSparseSystem.time_linsolve_Aaug(30)                        |
| -        | 28.3±0.2ms           | 15.3±0.04ms         |    0.54 | solve.TimeSparseSystem.time_linsolve_Ab(20)                          |
| -        | 54.0±0.4ms           | 24.6±0.1ms          |    0.45 | solve.TimeSparseSystem.time_linsolve_Ab(30)                          |

Full benchmark results can be found as artifacts in GitHub Actions
(click on checks at the top of the PR).

[moorepants]

What's this change?

[tjstienstra]

Those were additional closing brackets

[moorepants]

So, it had an error in the printing?

[tjstienstra]

Yes

[moorepants]

LGTM, other than possibly the change to the repr.