Backwards compatibility for deserializing GeometryPath

OpenSim/Actuators/ModelFactory.h

@@ -60,7 +60,7 @@ class OSIMACTUATORS_API ModelFactory {
     /// @name Modify a Model
     /// @{
 
-    /// Replace muscles in a model with a PathActuator of the same GeometryPath,
+    /// Replace muscles in a model with a PathActuator of the same path,
     /// optimal force, and min/max control defaults.
     /// @note This only replaces muscles within the model's ForceSet.
     static void replaceMusclesWithPathActuators(Model& model);

OpenSim/Common/XMLDocument.cpp

@@ -66,8 +66,10 @@ using namespace std;
 // 30516 for GeometryPath default_color -> Appearance
 // 30517 for removal of _connectee_name suffix to shorten XML for socket, input
 // 40000 for OpenSim 4.0 release 40000
+// 40500 for OpenSim 4.5 release, moving 'GeometryPath' nodes under the 'path' 
+//       node for supporting generic path types.
 
-const int XMLDocument::LatestVersion = 40000;
+const int XMLDocument::LatestVersion = 40500;
 //=============================================================================
 // DESTRUCTOR AND CONSTRUCTOR(S)
 //=============================================================================

OpenSim/Simulation/Model/AbstractPath.h

@@ -148,7 +148,7 @@ OpenSim_DECLARE_ABSTRACT_OBJECT(AbstractPath, ModelComponent);
      *  @param[in,out] mobilityForces  Vector of generalized forces
      */
     virtual void addInEquivalentForces(const SimTK::State& state,
-            double tension,
+            const double& tension,
             SimTK::Vector_<SimTK::SpatialVec>& bodyForces,
             SimTK::Vector& mobilityForces) const = 0;
 

OpenSim/Simulation/Model/GeometryPath.cpp

@@ -133,7 +133,7 @@ static void PopulatePathElementLookup(
 /*
  * Default constructor.
  */
-GeometryPath::GeometryPath() : AbstractPath(), _preScaleLength(0.0)
+GeometryPath::GeometryPath() : AbstractPath()
 {
     setAuthors("Peter Loan");
     constructProperties();
@@ -382,7 +382,7 @@ getPointForceDirections(const SimTK::State& s,
 /* add in the equivalent spatial forces on bodies for an applied tension 
     along the GeometryPath to a set of bodyForces */
 void GeometryPath::addInEquivalentForces(const SimTK::State& s,
-    double tension,
+    const double& tension,
     SimTK::Vector_<SimTK::SpatialVec>& bodyForces,
     SimTK::Vector& mobilityForces) const
 {
@@ -564,13 +564,6 @@ void GeometryPath::setLengtheningSpeed( const SimTK::State& s, double speed ) co
     setCacheVariableValue(s, _speedCV, speed);
 }
 
-void GeometryPath::setPreScaleLength( const SimTK::State& s, double length ) {
-    _preScaleLength = length;
-}
-double GeometryPath::getPreScaleLength( const SimTK::State& s) const {
-    return _preScaleLength;
-}
-
 //=============================================================================
 // UTILITY
 //=============================================================================

OpenSim/Simulation/Model/GeometryPath.h

@@ -69,9 +69,6 @@ OpenSim_DECLARE_CONCRETE_OBJECT(GeometryPath, AbstractPath);
     OpenSim_DECLARE_UNNAMED_PROPERTY(PathWrapSet,
         "The wrap objects that are associated with this path");
 
-    // used for scaling tendon and fiber lengths
-    double _preScaleLength;
-
     // Solver used to compute moment-arms. The GeometryPath owns this object,
     // but we cannot simply use a unique_ptr because we want the pointer to be
     // cleared on copy.
@@ -143,8 +140,6 @@ OpenSim_DECLARE_CONCRETE_OBJECT(GeometryPath, AbstractPath);
 
     double getLength( const SimTK::State& s) const;
     void setLength( const SimTK::State& s, double length) const;
-    double getPreScaleLength( const SimTK::State& s) const;
-    void setPreScaleLength( const SimTK::State& s, double preScaleLength);
     const Array<AbstractPathPoint*>& getCurrentPath( const SimTK::State& s) const;
 
     double getLengtheningSpeed(const SimTK::State& s) const;
@@ -163,7 +158,7 @@ OpenSim_DECLARE_CONCRETE_OBJECT(GeometryPath, AbstractPath);
     @param[in,out] mobilityForces  Vector of generalized forces, one per mobility   
     */
     void addInEquivalentForces(const SimTK::State& state,
-                               double tension,
+                               const double& tension,
                                SimTK::Vector_<SimTK::SpatialVec>& bodyForces,
                                SimTK::Vector& mobilityForces) const override;
 

OpenSim/Simulation/Model/Model.cpp

@@ -323,6 +323,54 @@ void Model::updateFromXMLNode(SimTK::Xml::Element& aNode, int versionNumber)
                 framesNode->getParentElement().eraseNode(framesNode);
             }
         }
+        if (versionNumber < 40500) {
+            // In version 40500, the XML syntax for components that own 
+            // GeometryPath objects (PathActuator, PathSpring, Ligament,
+            // and Blankevoort1991Ligament) changed: the 'GeometryPath` unnamed
+            // property was replaced with the named property 'path', which is of
+            // type 'AbstractPath'. Since 'path' is still a one object property,
+            // the property will still be serialized using the concrete type
+            // (e.g., 'GeometryPath') and with name attribute set to 'path'.
+            // Therefore, we can simply update the name attribute of any
+            // existing 'GeometryPath' nodes to 'path'.
+
+            // Components that own paths can be in the model's ForceSet or
+            // the components list.
+            SimTK::Xml::element_iterator forceSetNode =
+                aNode.element_begin("ForceSet");
+            SimTK::Xml::element_iterator componentsNode =
+                    aNode.element_begin("components");
+
+            // Loop through the ForceSet and update any GeometryPath nodes.
+            if (forceSetNode != aNode.element_end()) {
+                SimTK::Xml::element_iterator objects_node =
+                        forceSetNode->element_begin("objects");
+                SimTK::Xml::element_iterator forceIter =
+                        objects_node->element_begin();
+                for (; forceIter != objects_node->element_end(); ++forceIter) {
+                    SimTK::Xml::element_iterator geometryPathNode =
+                            forceIter->element_begin("GeometryPath");
+                    if (geometryPathNode != forceIter->element_end()) {
+                        geometryPathNode->setAttributeValue("name", "path");
+                    }
+                }
+            }
+
+            // Loop through the components list and update any GeometryPath 
+            // nodes.
+            if (componentsNode != aNode.element_end()) {
+                SimTK::Xml::element_iterator forceIter =
+                        componentsNode->element_begin();
+                for (; forceIter != componentsNode->element_end(); ++forceIter) {
+                    SimTK::Xml::element_iterator geometryPathNode =
+                            forceIter->element_begin("GeometryPath");
+                    if (geometryPathNode != forceIter->element_end()) {
+                        geometryPathNode->setAttributeValue("name", "path");
+                    }
+                }
+            }
+
+        }
     }
      // Call base class now assuming _node has been corrected for current version
      Super::updateFromXMLNode(aNode, versionNumber);