## Thank You! I have been using OpenSim Creator recently for making some new models and am very appreciative of your excellent work on creating this software thus far. Visualization and creation of models is much easier with this tooling and I enjoy being able to add and tweak model parameters in the UI and in the `.osim` file. I wanted to do some modeling with contact cylinders which were recently added to OpenSim Core (https://github.com/opensim-org/opensim-core/pull/4115). This required pulling OpenSim Core forward in OpenSim Creator. I like your approach to third party dependency management and once I got the hang of it patching things was fairly smooth. This issue is intended to document what I have done in case you find any of it useful in updating these libraries in OSC. ## Main Challenges This was a long and surprisingly arduous process with how many things have changed. In the end everything did work and I was able to produce a working build on Linux. ### OpenSim Core logging in exposed header files OpenSim Core has logging calls in header files which forces all consuming applications to have the same configuration for `spdlog` and `fmt` in order for the code to work. With the new spdlog, the following unholy error is generated: ```cpp /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Logger.h: In instantiation of ‘static void OpenSim::Logger::debug(spdlog::string_view_t, const Args& ...) [with Args = {std::__cxx11::basic_string, std::allocator >, std::__cxx11::basic_string, std::allocator >, std::__cxx11::basic_string, std::allocator >}; spdlog::string_view_t = fmt::v11::basic_string_view]’: /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Logger.h:240:18: required from ‘void OpenSim::log_debug(spdlog::string_view_t, const Args& ...) [with Args = {std::__cxx11::basic_string, std::allocator >, std::__cxx11::basic_string, std::allocator >, std::__cxx11::basic_string, std::allocator >}; spdlog::string_view_t = fmt::v11::basic_string_view]’ 240 | Logger::debug(fmt, args...); | ~~~~~~~~~~~~~^~~~~~~~~~~~~~ /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Component.h:3538:26: required from ‘const C* OpenSim::Component::findComponent(const OpenSim::ComponentPath&) const [with C = OpenSim::PhysicalFrame]’ 3538 | log_debug("{} Found '{}' as a match for: Component '{}' of " | ~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 3539 | "type {}, but it is not on the specified path.", | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 3540 | msg, compAbsPath.toString(), | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 3541 | comp.getConcreteClassName()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Component.h:4387:59: required from ‘void OpenSim::Socket::findAndConnect(const OpenSim::ComponentPath&) [with T = OpenSim::PhysicalFrame]’ 4387 | getOwner().getRoot().template findComponent(connectee); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~ /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Component.h:4385:6: required from here 4385 | void Socket::findAndConnect(const ComponentPath& connectee) { | ^~~~~~~~~ /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Logger.h:156:38: error: call to consteval function ‘fmt::v11::fstring, std::allocator >&, const std::__cxx11::basic_string, std::allocator >&, const std::__cxx11::basic_string, std::allocator >&>(fmt)’ is not a constant expression 156 | getDefaultLogger().debug(fmt, args...); | ^~~ /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/OpenSim/Common/Logger.h:156:38: in ‘constexpr’ expansion of ‘fmt::v11::fstring, std::allocator >&, const std::__cxx11::basic_string, std::allocator >&, const std::__cxx11::basic_string, std::allocator >&>(fmt)’ /home/alexbeat/AlexDev/opensim-creator/third_party-install/include/spdlog/fmt/bundled/base.h:2745:57: error: ‘fmt’ is not a constant expression 2745 | FMT_CONSTEVAL FMT_ALWAYS_INLINE fstring(const S& s) : str(s) { ``` I had a solution for this (https://github.com/opensim-org/opensim-core/pull/4094) when pulling spdlog forward to solve https://github.com/opensim-org/opensim-core/issues/4066 but it wasn't ultimately accepted. I have a [branch](https://github.com/gateway240/opensim-core/tree/alex/no-header-log-patch) where I updated and made the necessary changes to get the logging statements out of the headers and get `fmt` out of `Exception.h` which is also a problem. After that the build was successful. The resultant patch is very gnarly and ideally getting `spdlog` out of exposed header files would be upstreamed but it does not seem that the change carries support. Ultimately, libraries should not force their consumers to use and link specific versions of dependent libraries they themselves use internally which is what is happening with `spdlog` and `fmt` right now. ### Generating Appropriate Patches I attempted to make patches that worked for me but they are very fragile. On my branch I committed the changes resulting from the patches and commented out the patch lines. Ideally https://github.com/opensim-org/opensim-core/pull/4094 could be revived and the patches would not be necessary. ### OpenSim API Breaking Changes 1. `WrapCylinderObst`, `WrapDoubleCylinderObst`, and `WrapSphereObst` have been removed from OpenSim Core and need to be removed from `CMakeLists.txt` and in code. 2. `ContactSphere.h` has been removed and has migrated to `ContactGeometry.h` 3. `SWIG_PYTHON` is needed in the `osim` `compile_defines` section for SimTK. See https://github.com/simbody/simbody/pull/815 for details 4. `CableSpan` has been added: ```cmake ${OSIM_SIMBODY_BASEDIR}/Simbody/src/CableSpan.cpp ${OSIM_SIMBODY_BASEDIR}/Simbody/src/CableSpan_SubsystemTestHelper_Impl.cpp ``` 4. OpenSim Core `Manager` now calls the `cpodes` and `sundails` integrators so they have to be compiled: ```cmake ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_band.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_dense.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_direct.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_iterative.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_lapack.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_math.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_nvector.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_spbcgs.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_spgmr.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/sundials/sundials_sptfqmr.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/nvec_ser/fnvector_serial.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/nvec_ser/nvector_serial.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_band.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bandpre.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_bbdpre.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_dense.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_direct.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_ic.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_io.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_lapack.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_nls.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_proj.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_root.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spbcgs.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spgmr.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_spils.c ${OSIM_SIMBODY_BASEDIR}/SimTKmath/Integrators/src/CPodes/sundials/src/cpodes/cpodes_sptfqmr.c ``` ### Jam-Plugin Fixes 1. `createSimTKContactGeometry()` => `createSimTKContactGeometryImpl()` in `Smith2018ContactMesh.cpp` 2. `#include ` needs to be added to `Smith2018ContactMesh.cpp` See https://github.com/opensim-jam-org/jam-plugin/issues/1 ### OSC Test Failure - Unsolved The `ActionAddWrapObjectToPhysicalFrameCanAddWrapCylinderToGround` test broke and I'm not sure how to fix it. ## Conclusion After finishing all this, I was able to get a working build of OSC with the newest versions of OpenSim Core, Simbody, and spdlog. I was amazed that when I went to the UI to add the contact cylinder it worked without me making any changes to add it to OSC! I was happy when I tested in both OSC and the standard OpenSim GUI and the contact cylinder was rendered and present.

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