Merge pull request #213 from pariterre/master

Bumped to 1.6.0
pyomeca · Jul 8, 2021 · 4116dbb · 4116dbb
2 parents a0cca19 + 6aa1829
commit 4116dbb
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Showing 5 changed files with 10 additions and 9 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.0")
     cmake_policy(SET CMP0042 NEW)
 endif()
 
-project(biorbd VERSION 1.5.5)
+project(biorbd VERSION 1.6.0)
 set (CMAKE_CXX_STANDARD 11)
 set (BIORBD_NAME ${PROJECT_NAME})
 

diff --git a/include/Muscles/Muscles.h b/include/Muscles/Muscles.h
@@ -76,7 +76,7 @@ class BIORBD_API Muscles
     /// \param name The name of the muscle group
     /// \return The group ID (returns -1 if not found)
     ///
-    int getGroupId(
+    int getMuscleGroupId(
             const biorbd::utils::String &name) const;
 
 

diff --git a/src/ModelReader.cpp b/src/ModelReader.cpp
@@ -781,7 +781,7 @@ void biorbd::Reader::readModelFile(
                     if (!property_tag.tolower().compare("musclegroup")){
                         // Dynamically find the parent number
                         file.read(muscleGroup);
-                        idxGroup = model->getGroupId(muscleGroup);
+                        idxGroup = model->getMuscleGroupId(muscleGroup);
                         // If parent_int is still equal to zero, no name has concurred
                         biorbd::utils::Error::check(idxGroup!=-1, "Could not find muscle group");
                     }
@@ -902,7 +902,7 @@ void biorbd::Reader::readModelFile(
                     else if (!property_tag.tolower().compare("position"))
                         readVector3d(file, variable, position);
                 }
-                iMuscleGroup = model->getGroupId(musclegroup);
+                iMuscleGroup = model->getMuscleGroupId(musclegroup);
                 biorbd::utils::Error::check(iMuscleGroup!=-1, "No muscle group was provided!");
                 iMuscle = model->muscleGroup(static_cast<unsigned int>(iMuscleGroup)).muscleID(muscle);
                 biorbd::utils::Error::check(iMuscle!=-1, "No muscle was provided!");
@@ -961,7 +961,7 @@ void biorbd::Reader::readModelFile(
                         file.read(length, variable);
                 }
                 biorbd::utils::Error::check(parent != "", "Parent was not defined");
-                iMuscleGroup = model->getGroupId(musclegroup);
+                iMuscleGroup = model->getMuscleGroupId(musclegroup);
                 biorbd::utils::Error::check(iMuscleGroup!=-1, "No muscle group was provided!");
                 iMuscle = model->muscleGroup(static_cast<unsigned int>(iMuscleGroup)).muscleID(muscle);
                 biorbd::utils::Error::check(iMuscle!=-1, "No muscle was provided!");

diff --git a/src/Muscles/Muscles.cpp b/src/Muscles/Muscles.cpp
@@ -50,12 +50,12 @@ void biorbd::muscles::Muscles::addMuscleGroup(
         const biorbd::utils::String &insertionName)
 {
     if (m_mus->size() > 0)
-        biorbd::utils::Error::check(getGroupId(name)==-1, "Muscle group already defined");
+        biorbd::utils::Error::check(getMuscleGroupId(name)==-1, "Muscle group already defined");
 
     m_mus->push_back(biorbd::muscles::MuscleGroup(name, originName, insertionName));
 }
 
-int biorbd::muscles::Muscles::getGroupId(const biorbd::utils::String &name) const{
+int biorbd::muscles::Muscles::getMuscleGroupId(const biorbd::utils::String &name) const{
     for (unsigned int i=0; i<m_mus->size(); ++i)
         if (!name.compare((*m_mus)[i].name()))
             return static_cast<int>(i);
@@ -119,7 +119,7 @@ const biorbd::muscles::MuscleGroup &biorbd::muscles::Muscles::muscleGroup(unsign
     return (*m_mus)[idx];
 }
 const biorbd::muscles::MuscleGroup &biorbd::muscles::Muscles::muscleGroup(const biorbd::utils::String& name) const{
-    int idx = getGroupId(name);
+    int idx = getMuscleGroupId(name);
     biorbd::utils::Error::check(idx!=-1, "Group name could not be found");
     return muscleGroup(static_cast<unsigned int>(idx));
 }

diff --git a/src/RigidBody/Contacts.cpp b/src/RigidBody/Contacts.cpp
@@ -149,7 +149,8 @@ std::vector<biorbd::utils::Vector3d> biorbd::rigidbody::Contacts::constraintsInG
     // On each control, apply the rotation and save the position
     for (unsigned int i=0; i<size(); ++i){
         tp.push_back(RigidBodyDynamics::CalcBodyToBaseCoordinates(
-                         model, Q, body[i], point[i], updateKin));
+                         model, Q, contactConstraints[i]->getBodyIds()[0],
+                         contactConstraints[i]->getBodyFrames()[0].r, updateKin));
 #ifndef BIORBD_USE_CASADI_MATH
         updateKin = false;
 #endif