Merge pull request #4117 from opensim-org/exponential_contact_force

Add class `ExponentialContactForce`

Author: nickbianco

CHANGELOG.md

@@ -16,6 +16,8 @@ v4.6
 - Fixed bug in `C3DFileAdapter` where there was an error when reading C3D files with more than 255 markers. It now excludes non-marker points (POINT:ANGLES, POINT:POWERS, POINT:FORCES, POINT:MOMENTS, and POINT:SCALARS). (#3606)
 - updated `ezc3d` version to `1.5.19`.
 - Removed `WrapCylinderObst`, `WrapDoubleCylinderObst`, and `WrapSphereObst`. (#4120)
+- Added `ExponentialContactForce`, a class that models forces between a point and a contact plane using exponential springs. Improved computational performance over the Hunt-Crossley contact model is achieved in non-slip conditions through the use of an elastic frictional force component which reduces system stiffness (enabling larger integration step sizes) and eliminates drift velocity. (#4117)
+
 
 v4.5.2
 ======

OpenSim/Common/Array.h

@@ -23,8 +23,8 @@
  * limitations under the License.                                             *
  * -------------------------------------------------------------------------- */
 
-/* Note: This code was originally developed by Realistic Dynamics Inc. 
- * Author: Frank C. Anderson 
+/* Note: This code was originally developed by Realistic Dynamics Inc.
+ * Author: Frank C. Anderson
  */
 
 #include "Assertion.h"
@@ -69,7 +69,7 @@ template<class T>
 class Array {
 
 public:
-    Array(Array const&) = default;;
+    Array(Array const&) = default;
     Array(Array&&) noexcept = default;
     Array& operator=(Array const&) = default;
     Array& operator=(Array&&) noexcept = default;

OpenSim/Moco/Components/ActuatorInputController.cpp

@@ -94,7 +94,7 @@ void ActuatorInputController::extendConnectToModel(Model& model) {
 
     const auto& controlNames = getControlNames();
     const auto& controlIndexes = getControlIndexes();
-    OPENSIM_ASSERT(getNumControls() == static_cast<int>(controlNames.size()))
+    OPENSIM_ASSERT(getNumControls() == static_cast<int>(controlNames.size()));
 
     const auto& input = getInput<double>("controls");
     const auto inputControlLabels = getInputControlLabels();