Update core bindings 092624

Gui/opensim/modeling/src/org/opensim/modeling/AbstractGeometryPath.java

@@ -162,10 +162,25 @@ public double getLengtheningSpeed(State s) {
     return opensimSimulationJNI.AbstractGeometryPath_getLengtheningSpeed(swigCPtr, this, State.getCPtr(s), s);
   }
 
+  /**
+   * Requests that the concrete implementation produces forces resulting from<br>
+   * applying a tension along its path, emitting them into the supplied<br>
+   * `ForceConsumer`.<br>
+   * <br>
+   * @param state         the state used to evaluate forces<br>
+   * @param tension       scalar of the applied (+ve) tensile force<br>
+   * @param forceConsumer a `ForceConsumer` shall receive each produced force
+   */
+  public void produceForces(State state, double tension, SWIGTYPE_p_OpenSim__ForceConsumer forceConsumer) {
+    opensimSimulationJNI.AbstractGeometryPath_produceForces(swigCPtr, this, State.getCPtr(state), state, tension, SWIGTYPE_p_OpenSim__ForceConsumer.getCPtr(forceConsumer));
+  }
+
   /**
    *  Add in the equivalent body and generalized forces to be applied to the<br>
    *  multibody system resulting from a tension along the AbstractGeometryPath.<br>
    * <br>
+   * Note: this internally uses `produceForces`<br>
+   * <br>
    *  @param state           state used to evaluate forces<br>
    *  @param tension         scalar of the applied (+ve) tensile force<br>
    *  @param bodyForces      Vector of forces (SpatialVec's) on bodies<br>

Gui/opensim/modeling/src/org/opensim/modeling/Actuator.java

@@ -15,7 +15,7 @@
  * <br>
  * @author Ajay Seth
  */
-public class Actuator extends Force {
+public class Actuator extends ForceProducer {
   private transient long swigCPtr;
 
   public Actuator(long cPtr, boolean cMemoryOwn) {

Gui/opensim/modeling/src/org/opensim/modeling/ActuatorIterator.java

@@ -166,6 +166,33 @@ public void computeEquilibrium(State s) {
     opensimSimulationJNI.ActuatorIterator_computeEquilibrium(swigCPtr, this, State.getCPtr(s), s);
   }
 
+  /**
+   * Uses `implProduceForces` to produce (emit) forces evaluated from `state` into the<br>
+   * provided `ForceConsumer`.<br>
+   * <br>
+   * Note: this function only produces the forces and does not apply them to anything. It's<br>
+   *       up to the `ForceConsumer` implementation to handle the forces. Therefore,<br>
+   *       `Force::appliesForces` is ignored by this method.<br>
+   * <br>
+   * @param state       the state used to evaluate forces<br>
+   * 
+   */
+  public void produceForces(State state, SWIGTYPE_p_OpenSim__ForceConsumer forceConsumer) {
+    opensimSimulationJNI.ActuatorIterator_produceForces(swigCPtr, this, State.getCPtr(state), state, SWIGTYPE_p_OpenSim__ForceConsumer.getCPtr(forceConsumer));
+  }
+
+  /**
+   * Inhereted from `OpenSim::Force`.<br>
+   * <br>
+   * `ForceProducer` overrides `OpenSim::Force::computeForce` with a default<br>
+   * implementation that, provided `OpenSim::Force::appliesForces` is `true`,<br>
+   * internally uses `produceForces` to mutate the provided `bodyForces` in a<br>
+   * manner that's compatible with the `OpenSim::Force` API.
+   */
+  public void computeForce(State state, VectorOfSpatialVec bodyForces, Vector generalizedForces) {
+    opensimSimulationJNI.ActuatorIterator_computeForce(swigCPtr, this, State.getCPtr(state), state, VectorOfSpatialVec.getCPtr(bodyForces), bodyForces, Vector.getCPtr(generalizedForces), generalizedForces);
+  }
+
   public boolean get_appliesForce(int i) {
     return opensimSimulationJNI.ActuatorIterator_get_appliesForce__SWIG_0(swigCPtr, this, i);
   }
@@ -707,7 +734,11 @@ public AbstractOutput getOutput(String name) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public int getModelingOption(State state, String path) {
-    return opensimSimulationJNI.ActuatorIterator_getModelingOption(swigCPtr, this, State.getCPtr(state), state, path);
+    return opensimSimulationJNI.ActuatorIterator_getModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path);
+  }
+
+  public int getModelingOption(State state, ComponentPath path) {
+    return opensimSimulationJNI.ActuatorIterator_getModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**
@@ -736,7 +767,11 @@ public int getModelingOption(State state, String path) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public void setModelingOption(State state, String path, int flag) {
-    opensimSimulationJNI.ActuatorIterator_setModelingOption(swigCPtr, this, State.getCPtr(state), state, path, flag);
+    opensimSimulationJNI.ActuatorIterator_setModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path, flag);
+  }
+
+  public void setModelingOption(State state, ComponentPath path, int flag) {
+    opensimSimulationJNI.ActuatorIterator_setModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path, flag);
   }
 
   /**
@@ -770,7 +805,7 @@ public double getStateVariableValue(State state, String name) {
    }<br>
    * <br>
    * @param state   the State for which to get the value<br>
-   * <br>
+   * @param path    path to the state variable of interest<br>
    * @throws ComponentHasNoSystem if this Component has not been added to a<br>
    *         System (i.e., if initSystem has not been called)
    */
@@ -835,7 +870,19 @@ public void setStateVariableValues(State state, Vector values) {
    *         System (i.e., if initSystem has not been called)
    */
   public double getStateVariableDerivativeValue(State state, String name) {
-    return opensimSimulationJNI.ActuatorIterator_getStateVariableDerivativeValue(swigCPtr, this, State.getCPtr(state), state, name);
+    return opensimSimulationJNI.ActuatorIterator_getStateVariableDerivativeValue__SWIG_0(swigCPtr, this, State.getCPtr(state), state, name);
+  }
+
+  /**
+   * Get the value of a state variable derivative computed by this Component.<br>
+   * <br>
+   * @param state   the State for which to get the derivative value<br>
+   * @param path    path to the state variable of interest<br>
+   * @throws ComponentHasNoSystem if this Component has not been added to a<br>
+   *         System (i.e., if initSystem has not been called)
+   */
+  public double getStateVariableDerivativeValue(State state, ComponentPath path) {
+    return opensimSimulationJNI.ActuatorIterator_getStateVariableDerivativeValue__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**

Gui/opensim/modeling/src/org/opensim/modeling/ActuatorList.java

@@ -60,8 +60,7 @@ public ActuatorList(Component root, ComponentFilter f) {
 
   /**
    *  Constructor that takes only a Component to iterate over (itself and its<br>
-   *     descendants). ComponentFilterMatchAll is used internally. You can<br>
-   *     change the filter using setFilter() method. 
+   *     descendants). You can change the filter using setFilter() method.
    */
   public ActuatorList(Component root) {
     this(opensimSimulationJNI.new_ActuatorList__SWIG_1(Component.getCPtr(root), root), true);

Gui/opensim/modeling/src/org/opensim/modeling/Blankevoort1991Ligament.java

@@ -147,7 +147,7 @@ When scaling a model (using the ScaleTool) that contains a
 
 
  */
-public class Blankevoort1991Ligament extends Force {
+public class Blankevoort1991Ligament extends ForceProducer {
   private transient long swigCPtr;
 
   public Blankevoort1991Ligament(long cPtr, boolean cMemoryOwn) {
@@ -579,10 +579,6 @@ public double computeMomentArm(State s, Coordinate aCoord) {
     return opensimSimulationJNI.Blankevoort1991Ligament_computeMomentArm(swigCPtr, this, State.getCPtr(s), s, Coordinate.getCPtr(aCoord), aCoord);
   }
 
-  public void computeForce(State s, VectorOfSpatialVec bodyForces, Vector generalizedForces) {
-    opensimSimulationJNI.Blankevoort1991Ligament_computeForce(swigCPtr, this, State.getCPtr(s), s, VectorOfSpatialVec.getCPtr(bodyForces), bodyForces, Vector.getCPtr(generalizedForces), generalizedForces);
-  }
-
   public double computePotentialEnergy(State state) {
     return opensimSimulationJNI.Blankevoort1991Ligament_computePotentialEnergy(swigCPtr, this, State.getCPtr(state), state);
   }

Gui/opensim/modeling/src/org/opensim/modeling/BodyIterator.java

@@ -984,7 +984,11 @@ public AbstractOutput getOutput(String name) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public int getModelingOption(State state, String path) {
-    return opensimSimulationJNI.BodyIterator_getModelingOption(swigCPtr, this, State.getCPtr(state), state, path);
+    return opensimSimulationJNI.BodyIterator_getModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path);
+  }
+
+  public int getModelingOption(State state, ComponentPath path) {
+    return opensimSimulationJNI.BodyIterator_getModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**
@@ -1013,7 +1017,11 @@ public int getModelingOption(State state, String path) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public void setModelingOption(State state, String path, int flag) {
-    opensimSimulationJNI.BodyIterator_setModelingOption(swigCPtr, this, State.getCPtr(state), state, path, flag);
+    opensimSimulationJNI.BodyIterator_setModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path, flag);
+  }
+
+  public void setModelingOption(State state, ComponentPath path, int flag) {
+    opensimSimulationJNI.BodyIterator_setModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path, flag);
   }
 
   /**
@@ -1047,7 +1055,7 @@ public double getStateVariableValue(State state, String name) {
    }<br>
    * <br>
    * @param state   the State for which to get the value<br>
-   * <br>
+   * @param path    path to the state variable of interest<br>
    * @throws ComponentHasNoSystem if this Component has not been added to a<br>
    *         System (i.e., if initSystem has not been called)
    */
@@ -1112,7 +1120,19 @@ public void setStateVariableValues(State state, Vector values) {
    *         System (i.e., if initSystem has not been called)
    */
   public double getStateVariableDerivativeValue(State state, String name) {
-    return opensimSimulationJNI.BodyIterator_getStateVariableDerivativeValue(swigCPtr, this, State.getCPtr(state), state, name);
+    return opensimSimulationJNI.BodyIterator_getStateVariableDerivativeValue__SWIG_0(swigCPtr, this, State.getCPtr(state), state, name);
+  }
+
+  /**
+   * Get the value of a state variable derivative computed by this Component.<br>
+   * <br>
+   * @param state   the State for which to get the derivative value<br>
+   * @param path    path to the state variable of interest<br>
+   * @throws ComponentHasNoSystem if this Component has not been added to a<br>
+   *         System (i.e., if initSystem has not been called)
+   */
+  public double getStateVariableDerivativeValue(State state, ComponentPath path) {
+    return opensimSimulationJNI.BodyIterator_getStateVariableDerivativeValue__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**

Gui/opensim/modeling/src/org/opensim/modeling/BodyList.java

@@ -60,8 +60,7 @@ public BodyList(Component root, ComponentFilter f) {
 
   /**
    *  Constructor that takes only a Component to iterate over (itself and its<br>
-   *     descendants). ComponentFilterMatchAll is used internally. You can<br>
-   *     change the filter using setFilter() method. 
+   *     descendants). You can change the filter using setFilter() method.
    */
   public BodyList(Component root) {
     this(opensimSimulationJNI.new_BodyList__SWIG_1(Component.getCPtr(root), root), true);

Gui/opensim/modeling/src/org/opensim/modeling/Component.java

@@ -863,7 +863,11 @@ public AbstractOutput updOutput(String name) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public int getModelingOption(State state, String path) {
-    return opensimCommonJNI.Component_getModelingOption(swigCPtr, this, State.getCPtr(state), state, path);
+    return opensimCommonJNI.Component_getModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path);
+  }
+
+  public int getModelingOption(State state, ComponentPath path) {
+    return opensimCommonJNI.Component_getModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**
@@ -892,7 +896,11 @@ public int getModelingOption(State state, String path) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public void setModelingOption(State state, String path, int flag) {
-    opensimCommonJNI.Component_setModelingOption(swigCPtr, this, State.getCPtr(state), state, path, flag);
+    opensimCommonJNI.Component_setModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path, flag);
+  }
+
+  public void setModelingOption(State state, ComponentPath path, int flag) {
+    opensimCommonJNI.Component_setModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path, flag);
   }
 
   /**
@@ -926,7 +934,7 @@ public double getStateVariableValue(State state, String name) {
    }<br>
    * <br>
    * @param state   the State for which to get the value<br>
-   * <br>
+   * @param path    path to the state variable of interest<br>
    * @throws ComponentHasNoSystem if this Component has not been added to a<br>
    *         System (i.e., if initSystem has not been called)
    */
@@ -991,7 +999,19 @@ public void setStateVariableValues(State state, Vector values) {
    *         System (i.e., if initSystem has not been called)
    */
   public double getStateVariableDerivativeValue(State state, String name) {
-    return opensimCommonJNI.Component_getStateVariableDerivativeValue(swigCPtr, this, State.getCPtr(state), state, name);
+    return opensimCommonJNI.Component_getStateVariableDerivativeValue__SWIG_0(swigCPtr, this, State.getCPtr(state), state, name);
+  }
+
+  /**
+   * Get the value of a state variable derivative computed by this Component.<br>
+   * <br>
+   * @param state   the State for which to get the derivative value<br>
+   * @param path    path to the state variable of interest<br>
+   * @throws ComponentHasNoSystem if this Component has not been added to a<br>
+   *         System (i.e., if initSystem has not been called)
+   */
+  public double getStateVariableDerivativeValue(State state, ComponentPath path) {
+    return opensimCommonJNI.Component_getStateVariableDerivativeValue__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**

Gui/opensim/modeling/src/org/opensim/modeling/ComponentIterator.java

@@ -587,7 +587,11 @@ public AbstractOutput getOutput(String name) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public int getModelingOption(State state, String path) {
-    return opensimCommonJNI.ComponentIterator_getModelingOption(swigCPtr, this, State.getCPtr(state), state, path);
+    return opensimCommonJNI.ComponentIterator_getModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path);
+  }
+
+  public int getModelingOption(State state, ComponentPath path) {
+    return opensimCommonJNI.ComponentIterator_getModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**
@@ -616,7 +620,11 @@ public int getModelingOption(State state, String path) {
    * @see Component#resolveVariableNameAndOwner()
    */
   public void setModelingOption(State state, String path, int flag) {
-    opensimCommonJNI.ComponentIterator_setModelingOption(swigCPtr, this, State.getCPtr(state), state, path, flag);
+    opensimCommonJNI.ComponentIterator_setModelingOption__SWIG_0(swigCPtr, this, State.getCPtr(state), state, path, flag);
+  }
+
+  public void setModelingOption(State state, ComponentPath path, int flag) {
+    opensimCommonJNI.ComponentIterator_setModelingOption__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path, flag);
   }
 
   /**
@@ -650,7 +658,7 @@ public double getStateVariableValue(State state, String name) {
    }<br>
    * <br>
    * @param state   the State for which to get the value<br>
-   * <br>
+   * @param path    path to the state variable of interest<br>
    * @throws ComponentHasNoSystem if this Component has not been added to a<br>
    *         System (i.e., if initSystem has not been called)
    */
@@ -715,7 +723,19 @@ public void setStateVariableValues(State state, Vector values) {
    *         System (i.e., if initSystem has not been called)
    */
   public double getStateVariableDerivativeValue(State state, String name) {
-    return opensimCommonJNI.ComponentIterator_getStateVariableDerivativeValue(swigCPtr, this, State.getCPtr(state), state, name);
+    return opensimCommonJNI.ComponentIterator_getStateVariableDerivativeValue__SWIG_0(swigCPtr, this, State.getCPtr(state), state, name);
+  }
+
+  /**
+   * Get the value of a state variable derivative computed by this Component.<br>
+   * <br>
+   * @param state   the State for which to get the derivative value<br>
+   * @param path    path to the state variable of interest<br>
+   * @throws ComponentHasNoSystem if this Component has not been added to a<br>
+   *         System (i.e., if initSystem has not been called)
+   */
+  public double getStateVariableDerivativeValue(State state, ComponentPath path) {
+    return opensimCommonJNI.ComponentIterator_getStateVariableDerivativeValue__SWIG_1(swigCPtr, this, State.getCPtr(state), state, ComponentPath.getCPtr(path), path);
   }
 
   /**

Gui/opensim/modeling/src/org/opensim/modeling/ComponentPath.java

@@ -65,6 +65,13 @@ public synchronized void delete() {
     }
   }
 
+  /**
+   * Returns the separator used to delimit path elements in the path
+   */
+  public static char separator() {
+    return opensimCommonJNI.ComponentPath_separator();
+  }
+
   /**
    * Returns the root component path (i.e. "/")
    */

Gui/opensim/modeling/src/org/opensim/modeling/ComponentsList.java

@@ -60,8 +60,7 @@ public ComponentsList(Component root, ComponentFilter f) {
 
   /**
    *  Constructor that takes only a Component to iterate over (itself and its<br>
-   *     descendants). ComponentFilterMatchAll is used internally. You can<br>
-   *     change the filter using setFilter() method. 
+   *     descendants). You can change the filter using setFilter() method.
    */
   public ComponentsList(Component root) {
     this(opensimCommonJNI.new_ComponentsList__SWIG_1(Component.getCPtr(root), root), true);

Gui/opensim/modeling/src/org/opensim/modeling/ConstantDistanceConstraint.java

@@ -10,7 +10,7 @@
 
 /**
  * A class implementing a constraint that maintains a constant distance between<br>
- * between two points on separate PhysicalFrames. <br>
+ * two points on separate PhysicalFrames. <br>
  * The underlying SimTK::Constraint in Simbody is a SimTK::Constraint::Rod.<br>
  * <br>
  * @author Matt DeMers

Gui/opensim/modeling/src/org/opensim/modeling/CoordinateLimitForce.java

@@ -11,25 +11,25 @@
 /**
  * Generate a force that acts to limit the range of motion of a coordinate.<br>
  * Force is experienced at upper and lower limits of the coordinate value<br>
- * according to a constant stiffnesses K_upper and K_lower, with a C2 continuous<br>
+ * according to constant stiffnesses K_upper and K_lower, with a C2-continuous<br>
  * transition from 0 to K. The transition parameter defines how far beyond the<br>
  * limit the stiffness becomes constant. The integrator will like smoother<br>
- * (i.e. larger transition regions).<br>
+ * (i.e. larger) transition regions.<br>
  * <br>
  * Damping factor is also phased in through the transition region from 0 to the<br>
  * value provided.<br>
  * <br>
  * Limiting force is guaranteed to be zero within the upper and lower limits.<br>
  * <br>
  * The potential energy stored in the spring component of the force is<br>
- * accessible as well as the power (nd optionally energy) dissipated.<br>
+ * accessible as well as the power (and, optionally, energy) dissipated.<br>
  * The function has the following shape:<br>
  * <br>
  * <img src="coordinate_limit_force.png"/><br>
  * <br>
  * @author Ajay Seth
  */
-public class CoordinateLimitForce extends Force {
+public class CoordinateLimitForce extends ForceProducer {
   private transient long swigCPtr;
 
   public CoordinateLimitForce(long cPtr, boolean cMemoryOwn) {