Switch 'Applies' to 'Produces'-style naming in various force-related …

…components

OpenSim/Actuators/CoordinateActuator.cpp

@@ -179,7 +179,7 @@ CreateForceSetOfCoordinateActuatorsForModel(const SimTK::State& s, Model& aModel
 //==============================================================================
 //_____________________________________________________________________________
 /**
- * Apply the actuator force to BodyA and BodyB.
+ * Produces the actuator force for BodyA and BodyB.
  */
 void CoordinateActuator::implProduceForces(const SimTK::State& s,
         ForceConsumer& forceConsumer) const

OpenSim/Actuators/PointToPointActuator.cpp

@@ -256,7 +256,7 @@ void PointToPointActuator::implProduceForces(
 
     const SimTK::Vec3 force = forceMagnitude * getDirectionBAInGround(s);
 
-    // Apply equal and opposite forces to the bodies.
+    // Produce equal and opposite forces on the body frames.
     forceConsumer.consumePointForce(s, *_bodyA, pointA_inBodyA, force);
     forceConsumer.consumePointForce(s, *_bodyB, pointB_inBodyB, -force);
 }

OpenSim/Actuators/SpringGeneralizedForce.cpp

@@ -174,8 +174,8 @@ getStiffness() const
 //==============================================================================
 //_____________________________________________________________________________
 /**
- * Compute all quantities necessary for applying the spring force to the
- * model.
+ * Compute all quantities necessary for producing the spring force.
+ *
  * Force applied = -stiffness * (_coordinateValue - restLength) 
  *                   - viscosity * _coordinateSpeed
  */

OpenSim/Actuators/TorqueActuator.cpp

@@ -146,7 +146,7 @@ double TorqueActuator::computeActuation(const State& s) const
 //==============================================================================
 //_____________________________________________________________________________
 /**
- * Apply the actuator force to BodyA and BodyB.
+ * Produce the actuator forces for BodyA and BodyB.
  */
 void TorqueActuator::implProduceForces(
     const SimTK::State& s,

OpenSim/Examples/CustomActuatorExample/PistonActuator.cpp

@@ -122,7 +122,7 @@ void PistonActuator::implProduceForces(
     setActuation(s, forceMagnitude);
     SimTK::Vec3 force = forceMagnitude * calcDirectionBAInGround(s);
 
-    // Apply equal and opposite forces to the bodies.
+    // Produce equal and opposite forces.
     forceConsumer.consumePointForce(s, frameA, pointA,  force);
     forceConsumer.consumePointForce(s, frameB, pointB, -force);
 }

OpenSim/Examples/Plugins/BodyDragExample/BodyDragForce.cpp

@@ -141,9 +141,9 @@ void BodyDragForce::implProduceForces(
                                                        dragForceGround,
                                                        aBody);
 
-    // Apply drag force to the body
-    // ------------------------------
-    // applyForceToPoint requires the force application point to be in the inertial (ground) frame
+    // Produce drag force as a point force on the body
+    // -----------------------------------------------
+    // `consumePointForce` requires the force application point to be in the inertial (ground) frame
     // and the force vector itself to be in the body frame
     forceConsumer.consumePointForce(s, aBody, bodyCoMPosGround, dragForceBody);
 
@@ -202,7 +202,7 @@ OpenSim::Array<double> BodyDragForce::getRecordValues(const SimTK::State& s) con
     SimTK::Vec3 bodyCoMPosBody, bodyCoMPosGround, bodyCoMVelGround, bodyCoMVelGroundRaisedPower, dragForceGround, dragForceBody, oppVelSign;
     BodySet &bs = _model->updBodySet();                                     // get body set
     const Ground &ground = _model->getGround();              // get ground body
-    Body &aBody = bs.get(get_body_name());                                      // get the body to apply the force to
+    Body &aBody = bs.get(get_body_name());                                      // get the body in which the force is applied
 
     // get CoM position of body in the BODY coordinate system
     bodyCoMPosBody = aBody.getMassCenter();

OpenSim/Examples/Plugins/CoupledBushingForceExample/CoupledBushingForce.cpp

@@ -120,7 +120,7 @@ void CoupledBushingForce::implProduceForces(
     Vec6 f = fk + fv;
 
     // convert the internal forces to into spatial forces and emit them
-    // into the consumer
+    // into the `ForceConsumer`
     producePhysicalForcesFromInternal(s, f, forceConsumer);
 }
 

OpenSim/Simulation/Model/ExpressionBasedPointToPointForce.cpp

@@ -161,8 +161,7 @@ extendAddToSystem(SimTK::MultibodySystem& system) const
 //=============================================================================
 // Computing
 //=============================================================================
-// Compute and apply the force
-
+// compute and produce forces
 void ExpressionBasedPointToPointForce::implProduceForces(
     const SimTK::State& s,
     ForceConsumer& forceConsumer) const

OpenSim/Simulation/Model/ForceConsumer.h

@@ -42,7 +42,7 @@ namespace OpenSim
 * The `ForceConsumer` API does not dictate how concrete implementations should
 * handle the forces. This is to support several use-cases (examples):
 *
-* - Implementations that actually apply the forces (see: `ForceProducer::computeForce`),
+* - Implementations that actually apply the forces (see: `ForceProducer::computeForce`, `ForceApplier`),
 * - Implementations that print force debugging information
 * - Implementations that want to render force vectors in 3D (e.g. UIs)
 */
@@ -105,7 +105,7 @@ class ForceConsumer {
      *
      * @param state     the state that was used to evaluate the torque
      * @param body      the body to which the torque applies
-     * @param torque    the torque, specified in the inertial frame, to apply
+     * @param torque    the torque vector, specified in the inertial frame
      */
     void consumeTorque(
         const SimTK::State& state,
@@ -124,7 +124,7 @@ class ForceConsumer {
      * @param state    the state that was used to evaluate the force
      * @param frame    the frame in which `point` is defined
      * @param point    a point in `frame` where `force` applies
-     * @param force    the force to apply, specified in the inertial (ground) frame
+     * @param force    the force vector, specified in the inertial (ground) frame
      */
     void consumePointForce(
         const SimTK::State& state,
@@ -171,7 +171,7 @@ class ForceConsumer {
      * @param state    the state that was used to evaluate the force
      * @param frame    the frame in which `point` is defined
      * @param point    a point in `frame` where `force` applies
-     * @param force    the force to apply, specified in the inertial (ground) frame
+     * @param force    the force vector, specified in the inertial (ground) frame
      */
     virtual void implConsumePointForce(
         const SimTK::State& state,

OpenSim/Simulation/Model/PrescribedForce.cpp

@@ -271,7 +271,7 @@ void PrescribedForce::implProduceForces(
 
         Vec3 point(0); // Default is body origin.
         if (hasPointFunctions) {
-            // Apply force to a specified point on the body.
+            // Calculate point force at a specified point on the body.
             point = Vec3(pointFunctions[0].calcValue(timeAsVector), 
                          pointFunctions[1].calcValue(timeAsVector), 
                          pointFunctions[2].calcValue(timeAsVector));

OpenSim/Simulation/Model/TwoFrameLinker.h

@@ -633,7 +633,7 @@ void TwoFrameLinker<C, F>::producePhysicalForcesFromInternal(
     SimTK::SpatialVec F_GB2(F_GM[0] + p_B2M_G % F_GM[1], F_GM[1]);
     SimTK::SpatialVec F_GB1(F_GF[0] + p_B1F_G % F_GF[1], F_GF[1]);
 
-    // Apply (add-in) the body forces to the system set of body forces
+    // Produce the body forces as body spatial vectors.
     forceConsumer.consumeBodySpatialVec(s, frame2, F_GB2);
     forceConsumer.consumeBodySpatialVec(s, frame1, F_GB1);
 }