Expose more simbody methods needed by advanced users #3618
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@nickbianco not sure if you have a minute to review this. Thank you |
| @@ -522,7 +522,21 @@ OpenSim_OBJECT_NONTEMPLATE_DEFS(Model, ModelComponent); | |||
| GeneralForceSubsystem allocated by this %Model. **/ | |||
| SimTK::GeneralForceSubsystem& updForceSubsystem() | |||
| { return *_forceSubsystem; } | |||
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| /** (Advanced) Get read only access to internal Simbody RigidBodyForces at Dynamics stage **/ | |||
| const SimTK::Vector_<SimTK::SpatialVec>& getRigidBodyForces(const SimTK::State& state) | |||
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Does SimTK::Vector_<SimTK::SpatialVec> get wrapped properly in the bindings? I don't see a %template for it.
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Yes it does here's the signature from the newly generated Model.java
public VectorOfSpatialVec getGravityBodyForces(State state) {
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}
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Should we create our own SWIG template to follow the convention for other vectors like VectorVec3? Perhaps VectorSpatialVec? I definitely wouldn't know to search for the signature VectorOfSpatialVec without knowing it existed already. (I'm assuming VectorOfSpatialVec is auto-generated by SWIG).
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Failure is the other intermittent osx failure unrelated to this PR. |
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@nickbianco The name of the class is not swig generated, it's defined here opensim-core/Bindings/simbody.i Line 220 in 4b75cbc since at least 2015 I agree there's inconsistency with other naming conventions but it's hard to tell why it was done this way or who is using these classes so a rename would be breaking backward compatibility. We can discuss further at dev meeting |
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@aymanhab gotcha, not sure how I missed that while searching. In that case, it doesn't make sense to potentially break backwards-compatibility with this PR. |
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Thanks @nickbianco Much appreciated 👍 |
Fixes issue #3414, #3490
Brief summary of changes
Added 3 methods previously not accessible to advanced users.
Testing I've completed
Diffed resulting Model.java files and the three methods were added and are utilizing other existing classes
Looking for feedback on...
Documentation/description of the methods and if there're other related questions/concerns
CHANGELOG.md (choose one)
This change is