bool SimbodySimmModel::writeMuscle(Muscle& aMuscle, const ForceSet& aActuatorSet, ofstream& aStream)
{
aStream << "beginmuscle " << aMuscle.getName() << endl;
const PathPointSet& pts = aMuscle.getGeometryPath().getPathPointSet();
aStream << "beginpoints" << endl;
for (int i = 0; i < pts.getSize(); i++)
{
PathPoint& pt = pts.get(i);
if (pt.getConcreteClassName()==("ConditionalPathPoint")) {
ConditionalPathPoint* mvp = (ConditionalPathPoint*)(&pt);
Vec3& attachment = mvp->getLocation();
double range[]{ mvp->get_range(0), mvp->get_range(1) };
aStream << attachment[0] << " " << attachment[1] << " " << attachment[2] << " segment " << mvp->getBody().getName();
if (mvp->hasCoordinate()) {
const Coordinate& coord = mvp->getCoordinate();
if (coord.getMotionType() == Coordinate::Rotational)
aStream << " ranges 1 " << coord.getName() << " (" << range[0] * SimTK_RADIAN_TO_DEGREE << ", " << range[1] * SimTK_RADIAN_TO_DEGREE << ")" << endl;
else
aStream << " ranges 1 " << coord.getName() << " (" << range[0] << ", " << range[1] << ")" << endl;
} else {
aStream << " ranges 1 "
<< mvp->getConnector<Coordinate>("coordinate").getConnecteeName()
<< " (0.0, 1.0)" << endl;
}
} else if (pt.getConcreteClassName()==("MovingPathPoint")) {
MovingPathPoint* mpp = (MovingPathPoint*)(&pt);
const Vec3& attachment = mpp->get_location();
if (mpp->hasXCoordinate()) {
aStream << "f" << addMuscleFunction(&mpp->get_x_location(), mpp->getXCoordinate().getMotionType(), Coordinate::Translational) << "(" << mpp->getXCoordinate().getName() << ") ";
} else {
aStream << attachment[0] << " ";
}
if (mpp->hasYCoordinate()) {
aStream << "f" << addMuscleFunction(&mpp->get_y_location(), mpp->getYCoordinate().getMotionType(), Coordinate::Translational) << "(" << mpp->getYCoordinate().getName() << ") ";
} else {
aStream << attachment[1] << " ";
}
if (mpp->hasZCoordinate()) {
aStream << "f" << addMuscleFunction(&mpp->get_z_location(), mpp->getZCoordinate().getMotionType(), Coordinate::Translational) << "(" << mpp->getZCoordinate().getName() << ")";
} else {
aStream << attachment[2];
}
aStream << " segment " << mpp->getBody().getName() << endl;
} else {
Vec3& attachment = pt.getLocation();
aStream << attachment[0] << " " << attachment[1] << " " << attachment[2] << " segment " << pt.getBody().getName() << endl;
}
}
aStream << "endpoints" << endl;
Array<std::string> groupNames;
aActuatorSet.getGroupNamesContaining(aMuscle.getName(),groupNames);
if(groupNames.getSize()) {
aStream << "begingroups" << endl;
for(int i=0; i<groupNames.getSize(); i++)
aStream << " " << groupNames[i];
aStream << endl << "endgroups" << endl;
}
const PathWrapSet& wrapObjects = aMuscle.getGeometryPath().getWrapSet();
for (int i=0; i<wrapObjects.getSize(); i++)
aStream << "wrapobject " << wrapObjects.get(i).getWrapObjectName() << " " <<
(dynamic_cast<WrapEllipsoid*>(&wrapObjects.get(i)) ? (wrapObjects.get(i).getMethodName()+" ") : "") <<
"range " << wrapObjects.get(i).getStartPoint() << " " << wrapObjects.get(i).getEndPoint() << endl;
if (dynamic_cast<Schutte1993Muscle_Deprecated*>(&aMuscle))
{
Schutte1993Muscle_Deprecated *szh = dynamic_cast<Schutte1993Muscle_Deprecated*>(&aMuscle);
aStream << "max_force " << szh->getMaxIsometricForce() << endl;
aStream << "optimal_fiber_length " << szh->getOptimalFiberLength() << endl;
aStream << "tendon_slack_length " << szh->getTendonSlackLength() << endl;
aStream << "pennation_angle " << szh->getPennationAngleAtOptimalFiberLength() * SimTK_RADIAN_TO_DEGREE << endl;
aStream << "max_contraction_velocity " << szh->getMaxContractionVelocity() << endl;
aStream << "timescale " << szh->getTimeScale() << endl;
aStream << "muscle_model 4" << endl;
aStream << "active_force_length_curve f" << addMuscleFunction(&szh->getActiveForceLengthCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
aStream << "passive_force_length_curve f" << addMuscleFunction(&szh->getPassiveForceLengthCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
aStream << "tendon_force_length_curve f" << addMuscleFunction(&szh->getTendonForceLengthCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
}
else if (dynamic_cast<Thelen2003Muscle_Deprecated*>(&aMuscle))
{
Thelen2003Muscle_Deprecated *sdm = dynamic_cast<Thelen2003Muscle_Deprecated*>(&aMuscle);
aStream << "max_force " << sdm->getMaxIsometricForce() << endl;
aStream << "optimal_fiber_length " << sdm->getOptimalFiberLength() << endl;
aStream << "tendon_slack_length " << sdm->getTendonSlackLength() << endl;
aStream << "pennation_angle " << sdm->getPennationAngleAtOptimalFiberLength() * SimTK_RADIAN_TO_DEGREE << endl;
aStream << "activation_time_constant " << sdm->getActivationTimeConstant() << endl;
aStream << "deactivation_time_constant " << sdm->getDeactivationTimeConstant() << endl;
aStream << "Vmax " << sdm->getVmax() << endl;
aStream << "Vmax0 " << sdm->getVmax0() << endl;
aStream << "FmaxTendonStrain " << sdm->getFmaxTendonStrain() << endl;
aStream << "FmaxMuscleStrain " << sdm->getFmaxMuscleStrain() << endl;
aStream << "KshapeActive " << sdm->getKshapeActive() << endl;
aStream << "KshapePassive " << sdm->getKshapePassive() << endl;
aStream << "damping " << sdm->getDamping() << endl;
aStream << "Af " << sdm->getAf() << endl;
aStream << "Flen " << sdm->getFlen() << endl;
aStream << "muscle_model 9" << endl;
}
else if (dynamic_cast<Delp1990Muscle_Deprecated*>(&aMuscle))
{
Delp1990Muscle_Deprecated *szh = dynamic_cast<Delp1990Muscle_Deprecated*>(&aMuscle);
aStream << "max_force " << szh->getMaxIsometricForce() << endl;
aStream << "optimal_fiber_length " << szh->getOptimalFiberLength() << endl;
aStream << "tendon_slack_length " << szh->getTendonSlackLength() << endl;
aStream << "pennation_angle " << szh->getPennationAngleAtOptimalFiberLength() * SimTK_RADIAN_TO_DEGREE << endl;
aStream << "max_contraction_velocity " << szh->getMaxContractionVelocity() << endl;
aStream << "timescale " << szh->getTimeScale() << endl;
aStream << "muscle_model 2" << endl;
if (szh->getActiveForceLengthCurve())
aStream << "active_force_length_curve f" << addMuscleFunction(szh->getActiveForceLengthCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
if (szh->getPassiveForceLengthCurve())
aStream << "passive_force_length_curve f" << addMuscleFunction(szh->getPassiveForceLengthCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
if (szh->getTendonForceLengthCurve())
aStream << "tendon_force_length_curve f" << addMuscleFunction(szh->getTendonForceLengthCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
if (szh->getForceVelocityCurve())
aStream << "force_velocity_curve f" << addMuscleFunction(szh->getForceVelocityCurve(), Coordinate::Translational, Coordinate::Translational) << endl;
}
aStream << "endmuscle" << endl << endl;
return true;
}
