From e57c1f6d91c70f94d72b077a0b24fc64ef730773 Mon Sep 17 00:00:00 2001
From: Nicholas Bianco <nbianco@stanford.edu>
Date: Wed, 30 Aug 2023 10:19:41 -0700
Subject: [PATCH] Handle unsupported path types when replacing muscles

---
 OpenSim/Actuators/DeGrooteFregly2016Muscle.cpp | 16 ++++++++++------
 OpenSim/Actuators/ModelFactory.cpp             | 13 +++++++++----
 OpenSim/Simulation/Model/PathActuator.cpp      |  6 +++---
 3 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/OpenSim/Actuators/DeGrooteFregly2016Muscle.cpp b/OpenSim/Actuators/DeGrooteFregly2016Muscle.cpp
index 72bb79db3f..beab802644 100644
--- a/OpenSim/Actuators/DeGrooteFregly2016Muscle.cpp
+++ b/OpenSim/Actuators/DeGrooteFregly2016Muscle.cpp
@@ -1023,10 +1023,7 @@ void DeGrooteFregly2016Muscle::replaceMuscles(
                 muscBase.get_ignore_activation_dynamics());
 
         // Copy the muscle's path.
-        AbstractPath& path = muscBase.updPath();
-        if (auto* pGeometryPath = dynamic_cast<GeometryPath*>(&path)) {
-            auto& thisGeometryPath = actu->initGeometryPath();
-
+        if (auto* pGeometryPath = muscBase.tryUpdPath<GeometryPath>()) {
             const auto& pathPointSet = pGeometryPath->getPathPointSet();
             for (int ipp = 0; ipp < pathPointSet.getSize(); ++ipp) {
                 auto* pathPoint = pathPointSet.get(ipp).clone();
@@ -1037,7 +1034,8 @@ void DeGrooteFregly2016Muscle::replaceMuscles(
                                              .getSocket(socketName)
                                              .getConnecteeAsObject());
                 }
-                thisGeometryPath.updPathPointSet().adoptAndAppend(pathPoint);
+                actu->updGeometryPath().updPathPointSet()
+                        .adoptAndAppend(pathPoint);
             }
 
             const auto& pathWrapSet = pGeometryPath->getWrapSet();
@@ -1050,8 +1048,14 @@ void DeGrooteFregly2016Muscle::replaceMuscles(
                                              .getSocket(socketName)
                                              .getConnecteeAsObject());
                 }
-                thisGeometryPath.updWrapSet().adoptAndAppend(pathWrap);
+                actu->updGeometryPath().updWrapSet()
+                        .adoptAndAppend(pathWrap);
             }
+        } else {
+            OPENSIM_THROW(Exception,
+                    "Muscle '{}' contains supported path type {}.",
+                    muscBase.getName(), 
+                    muscBase.getPath().getConcreteClassName())
         }
 
         std::string actname = actu->getName();
diff --git a/OpenSim/Actuators/ModelFactory.cpp b/OpenSim/Actuators/ModelFactory.cpp
index 340e7d8609..d3aa60a70a 100644
--- a/OpenSim/Actuators/ModelFactory.cpp
+++ b/OpenSim/Actuators/ModelFactory.cpp
@@ -174,8 +174,6 @@ void ModelFactory::replaceMusclesWithPathActuators(OpenSim::Model &model) {
 
         // Copy the muscle's path.
         if (auto* pGeometryPath = musc.tryUpdPath<GeometryPath>()) {
-            GeometryPath& thisGeometryPath = actu->initGeometryPath();
-
             // For the connectee names in the PathPoints to be correct, we must
             // add the path points after adding the PathActuator to the model.
             const auto& pathPointSet = pGeometryPath->getPathPointSet();
@@ -188,7 +186,8 @@ void ModelFactory::replaceMusclesWithPathActuators(OpenSim::Model &model) {
                                              .getSocket(socketName)
                                              .getConnecteeAsObject());
                 }
-                thisGeometryPath.updPathPointSet().adoptAndAppend(pathPoint);
+                actu->updGeometryPath().updPathPointSet()
+                        .adoptAndAppend(pathPoint);
             }
 
             // For the connectee names in the PathWraps to be correct, we must
@@ -203,8 +202,14 @@ void ModelFactory::replaceMusclesWithPathActuators(OpenSim::Model &model) {
                                              .getSocket(socketName)
                                              .getConnecteeAsObject());
                 }
-                thisGeometryPath.updWrapSet().adoptAndAppend(pathWrap);
+                actu->updGeometryPath().updWrapSet()
+                        .adoptAndAppend(pathWrap);
             }
+        } else {
+            OPENSIM_THROW(Exception,
+                    "Muscle '{}' contains supported path type {}.",
+                    musc.getName(), 
+                    musc.getPath().getConcreteClassName())
         }
 
         musclesToDelete.push_back(&musc);
diff --git a/OpenSim/Simulation/Model/PathActuator.cpp b/OpenSim/Simulation/Model/PathActuator.cpp
index 313dcfeff3..c420cd9e27 100644
--- a/OpenSim/Simulation/Model/PathActuator.cpp
+++ b/OpenSim/Simulation/Model/PathActuator.cpp
@@ -142,13 +142,13 @@ double PathActuator::getStress( const SimTK::State& s) const
 
 //_____________________________________________________________________________
 /**
- * Add a Path point to the _path of the actuator. The new point is appended
+ * Add a Path point to the _path of the actuator. The new point is appended 
  * to the end of the current path
  *
  */
 void PathActuator::addNewPathPoint(
-         const std::string& proposedName,
-         const PhysicalFrame& aBody,
+         const std::string& proposedName, 
+         const PhysicalFrame& aBody, 
          const SimTK::Vec3& aPositionOnBody) {
     // Create new PathPoint already appended to the PathPointSet for the path
     updGeometryPath().appendNewPathPoint(proposedName, aBody, aPositionOnBody);