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[WIP]: Do Not Merge: Quick and dirty way to get and return GravityForce from model #3416

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[WIP]: Do Not Merge: Quick and dirty way to get and return GravityForce from model #3416

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4c6db59
Quick and dirty way to get and return GravityForce from model
aymanhab Mar 1, 2023
05c80dc
Merge branch 'main' into add_utilityclass_bindings
aymanhab May 10, 2023
010f145
Move GravityHelper to separate header file and include in Bindings
aymanhab May 11, 2023
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3 changes: 3 additions & 0 deletions Bindings/OpenSimHeaders_simulation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,7 @@
#include <OpenSim/Simulation/Model/BushingForce.h>
#include <OpenSim/Simulation/Model/FunctionBasedBushingForce.h>
#include <OpenSim/Simulation/Model/ExpressionBasedBushingForce.h>
#include <OpenSim/Simulation/Model/GravityHelper.h>

#include <OpenSim/Simulation/Solver.h>
#include <OpenSim/Simulation/AssemblySolver.h>
Expand Down Expand Up @@ -165,4 +166,6 @@
#include <OpenSim/Actuators/ForceVelocityInverseCurve.h>
#include <OpenSim/Actuators/TendonForceLengthCurve.h>



#endif // OPENSIM_OPENSIM_HEADERS_SIMULATION_H_
4 changes: 3 additions & 1 deletion Bindings/simulation.i
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Expand Up @@ -330,7 +330,8 @@ OpenSim::ModelComponentSet<OpenSim::Controller>;
%include <OpenSim/Actuators/MuscleFixedWidthPennationModel.h>
%include <OpenSim/Actuators/Thelen2003Muscle.h>
%include <OpenSim/Actuators/Millard2012EquilibriumMuscle.h>

// Additional utility to access GravityForces
%include <OpenSim/Simulation/Model/GravityHelper.h>

// Compensate for insufficient C++11 support in SWIG
// =================================================
Expand Down Expand Up @@ -408,3 +409,4 @@ EXPOSE_SET_CONSTRUCTORS_HELPER(MarkerSet);
EXPOSE_SET_CONSTRUCTORS_HELPER(WrapObjectSet);
EXPOSE_SET_CONSTRUCTORS_HELPER(CoordinateSet);

// Extend class to extract Forces from Simbody
24 changes: 24 additions & 0 deletions OpenSim/Simulation/Model/GravityHelper.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,24 @@
#ifndef OPENSIM_GRAVITY_HELPER_H_
#define OPENSIM_GRAVITY_HELPER_H_
#include <OpenSim/Simulation/osimSimulationDLL.h>
#include <OpenSim/Simulation/Model/ModelComponent.h>
#include <OpenSim/Simulation/Model/Model.h>
#include "Simbody.h"
namespace OpenSim {

class GravityHelper {
SimTK::ReferencePtr<Model> _model;
public:
GravityHelper(OpenSim::Model& aModel){
_model = aModel;
}
const SimTK::Vector_<SimTK::SpatialVec>& getGravityForces(
const SimTK::State& state)
{
return _model->getGravityForce().getBodyForces(state);
}

};
}

#endif // OPENSIM_GRAVITY_HELPER_H_