/**
* Provide the value(s) to be reported that correspond to the labels
*/
OpenSim::Array<double> ElasticFoundationForce::getRecordValues(const SimTK::State& state) const
{
OpenSim::Array<double> values(1);
const ContactParametersSet& contactParametersSet =
get_contact_parameters();
const SimTK::ElasticFoundationForce& simtkForce =
(SimTK::ElasticFoundationForce &)(_model->getForceSubsystem().getForce(_index));
SimTK::Vector_<SimTK::SpatialVec> bodyForces(0);
SimTK::Vector_<SimTK::Vec3> particleForces(0);
SimTK::Vector mobilityForces(0);
//get the net force added to the system contributed by the Spring
simtkForce.calcForceContribution(state, bodyForces, particleForces, mobilityForces);
for (int i = 0; i < contactParametersSet.getSize(); ++i)
{
ContactParameters& params = contactParametersSet.get(i);
for (int j = 0; j < params.getGeometry().size(); ++j)
{
ContactGeometry& geom = _model->updContactGeometrySet().get(params.getGeometry()[j]);
std::string bodyName = geom.getBodyName();
SimTK::Vec3 forces = bodyForces(_model->getBodySet().get(bodyName).getIndex())[1];
SimTK::Vec3 torques = bodyForces(_model->getBodySet().get(bodyName).getIndex())[0];
values.append(3, &forces[0]);
values.append(3, &torques[0]);
}
}
return values;
}
/**
* Provide the value(s) to be reported that correspond to the labels
*/
OpenSim::Array<double> HuntCrossleyForce::
getRecordValues(const SimTK::State& state) const
{
OpenSim::Array<double> values(1);
const ContactParametersSet& contactParametersSet =
get_contact_parameters();
const auto& forceSubsys = _model->getForceSubsystem();
const SimTK::Force& abstractForce = forceSubsys.getForce(_index);
const auto& simtkForce = (SimTK::HuntCrossleyForce &)(abstractForce);
SimTK::Vector_<SimTK::SpatialVec> bodyForces(0);
SimTK::Vector_<SimTK::Vec3> particleForces(0);
SimTK::Vector mobilityForces(0);
//get the net force added to the system contributed by the Spring
simtkForce.calcForceContribution(state, bodyForces, particleForces,
mobilityForces);
for (int i = 0; i < contactParametersSet.getSize(); ++i)
{
ContactParameters& params = contactParametersSet.get(i);
for (int j = 0; j < params.getGeometry().size(); ++j)
{
const ContactGeometry& geom =
getModel().getComponent<ContactGeometry>(params.getGeometry()[j]);
const auto& mbi = geom.getFrame().getMobilizedBodyIndex();
const auto& thisBodyForce = bodyForces(mbi);
SimTK::Vec3 forces = thisBodyForce[1];
SimTK::Vec3 torques = thisBodyForce[0];
values.append(3, &forces[0]);
values.append(3, &torques[0]);
}
}
return values;
}
