recalculate_wrap_cylinder_xyz_body_rotation_from_station_scaling_step.h

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#pragma once
 
#include <libopynsim/solvers/model_warper/scaling_cache.h>
#include <libopynsim/solvers/model_warper/scaling_step.h>
#include <libopynsim/solvers/model_warper/scaling_step_validation_message.h>
#include <libopynsim/solvers/model_warper/scaling_step_validation_state.h>
#include <libopynsim/solvers/model_warper/scaling_parameters.h>
#include <libopynsim/utilities/open_sim_helpers.h>
 
#include <liboscar/utilities/assertions.h>
#include <OpenSim/Simulation/Model/Station.h>
#include <OpenSim/Simulation/Wrap/WrapCylinder.h>
#include <SimTKcommon/internal/Rotation.h>
#include <SimTKcommon/internal/Transform.h>
#include <SimTKcommon/internal/UnitVec.h>
#include <SimTKcommon/SmallMatrix.h>
 
#include <cmath>
#include <sstream>
#include <string>
#include <utility>
#include <vector>
 
namespace OpenSim { class Model; }
 
namespace opyn
{
    class RecalculateWrapCylinderXYZBodyRotationFromStationScalingStep final : public ScalingStep {
        OpenSim_DECLARE_CONCRETE_OBJECT(RecalculateWrapCylinderXYZBodyRotationFromStationScalingStep, ScalingStep)
    public:
        OpenSim_DECLARE_PROPERTY(station_path, std::string, "Absolute path (e.g. `/componentset/some_station`) to a `Station` component in the model");
        OpenSim_DECLARE_PROPERTY(wrap_cylinder_path, std::string, "Absolute path (e.g. `/bodyset/body/wrap_cylinder_2`) to a `WrapCylinder` component in the model");
 
        explicit RecalculateWrapCylinderXYZBodyRotationFromStationScalingStep() :
            ScalingStep{"Recalculate WrapCylinder 'xyz_body_rotation' from Station Placed Along Its Midline"}
        {
            setDescription("Recalculates the 'xyz_body_rotation' of a `WrapCylinder` component, located at `wrap_cylinder_path` such that the cylinder's +Z direction (midline) points toward the Station component located at `station_path`");
            constructProperty_station_path("");
            constructProperty_wrap_cylinder_path("");
        }
    private:
        std::vector<ScalingStepValidationMessage> implValidate(
            ScalingCache&,
            const ScalingParameters&,
            const OpenSim::Model& model) const final
        {
            std::vector<ScalingStepValidationMessage> messages;
 
            // Ensure `station_path` exists in the model (and is a `Station`)
            const auto* station = FindComponent<OpenSim::Station>(model, get_station_path());
            if (not station) {
                std::stringstream msg;
                msg << get_station_path() << ": Cannot find `station_path` in the source model (or it isn't a Station).";
                messages.emplace_back(ScalingStepValidationState::Error, std::move(msg).str());
            }
 
            // Ensure `wrap_cylinder_path` exists in the model (and is a `WrapCylinder`)
            const auto* wrapCylinder = FindComponent<OpenSim::WrapCylinder>(model, get_wrap_cylinder_path());
            if (not wrapCylinder) {
                std::stringstream msg;
                msg << get_wrap_cylinder_path() << ": Cannot find 'wrap_cylinder_path' in the source model (or it isn't a `WrapCylinder`).";
                messages.emplace_back(ScalingStepValidationState::Error, std::move(msg).str());
            }
 
            return messages;
        }
 
        void implApplyScalingStep(
            ScalingCache&,
            const ScalingParameters&,
            const OpenSim::Model&,
            OpenSim::Model& resultModel) const final
        {
            using std::acos;
            using std::abs;
 
            const auto* station = FindComponent<OpenSim::Station>(resultModel, get_station_path());
            OSC_ASSERT_ALWAYS(station && "could not find a station in the model");
            auto* wrapCylinder = FindComponentMut<OpenSim::WrapCylinder>(resultModel, get_wrap_cylinder_path());
            OSC_ASSERT_ALWAYS(wrapCylinder && "could not find a wrap cylinder in the model");
 
            // Re-express the station in the cylinder's reference frame
            const SimTK::Transform cylinder2cylinderFrame = wrapCylinder->getTransform();
            const SimTK::Transform cylinderFrame2ground = wrapCylinder->getFrame().getTransformInGround(resultModel.getWorkingState());
            const SimTK::Transform ground2cylinder = (cylinderFrame2ground * cylinder2cylinderFrame).invert();
            const SimTK::Vec3 stationPosInCylinder = ground2cylinder * station->getLocationInGround(resultModel.getWorkingState());
 
            // Calculate the source/target cylinder midline directions.
            const SimTK::UnitVec3 cylinderDirectionInCylinder{SimTK::CoordinateAxis::ZCoordinateAxis{}};
            const SimTK::UnitVec3 stationDirectionInCylinder{stationPosInCylinder};
 
            // Edge-case: If the station is pointing along the Z axis, no reorientation is necessary
            const auto cosRotationAngle = SimTK::dot(cylinderDirectionInCylinder, stationDirectionInCylinder);
            if (abs(cosRotationAngle) >= 1.0 - SimTK::Eps) {
                return;  // Nothing to do
            }
 
            // Else: If the station isn't pointing along the Z axis (usual case), calculate a rotation that
            //       rotates the cylinder's coordinate space so that +Z points toward toward the station.
            const auto rotationAngle = acos(cosRotationAngle);
            const SimTK::UnitVec3 rotationAxis{SimTK::cross(cylinderDirectionInCylinder, stationDirectionInCylinder)};
            const SimTK::Rotation rotation{rotationAngle, rotationAxis};
 
            // Compose the additional rotation with the original one to calculate the necessary overall rotation
            const SimTK::Rotation newRotation = cylinder2cylinderFrame.R() * rotation;
 
            // Write the new rotation to the `WrapCylinder`'s `xyz_body_rotation` property as Euler angles
            wrapCylinder->set_xyz_body_rotation(newRotation.convertRotationToBodyFixedXYZ());
            InitializeModel(resultModel);
            InitializeState(resultModel);
        }
    };
}