Use swig4.2 or later (#3985)

* Loosen swig version to 4.1.1 or higher

* Do without R specification that SWIG fails to parse

* SWIG out problematic signatures that break swig 4.2+

* A bit cleaner way to separate the scripting capable signature of createPeriodicTrajectory

* Update MocoUtilities.h

undo formatting changes for non-swig side for cleaner diff

Author: aymanhab

Bindings/CMakeLists.txt

@@ -1,5 +1,5 @@
 if(BUILD_PYTHON_WRAPPING OR BUILD_JAVA_WRAPPING)
-    find_package(SWIG 4.1.1 EXACT REQUIRED)
+    find_package(SWIG 4.1.1 REQUIRED)
 endif()
 
 # Flags are both Python and Java bindings will use.

OpenSim/Common/DelimFileAdapter.h

@@ -307,6 +307,7 @@ DelimFileAdapter<T>::clone() const {
 template<typename T>
 typename DelimFileAdapter<T>::OutputTables
 DelimFileAdapter<T>::extendRead(const std::string& fileName) const {
+#ifndef SWIG
     OPENSIM_THROW_IF(fileName.empty(),
                      EmptyFileName);
 
@@ -468,6 +469,7 @@ DelimFileAdapter<T>::extendRead(const std::string& fileName) const {
     output_tables.emplace(tableString(), table);
 
     return output_tables;
+#endif
 }
 
 template<typename T>

OpenSim/Moco/MocoUtilities.h

@@ -117,7 +117,7 @@ OSIMMOCO_API void prescribeControlsToModel(const MocoTrajectory& trajectory,
 OSIMMOCO_API MocoTrajectory simulateTrajectoryWithTimeStepping(
         const MocoTrajectory& trajectory, Model model,
         double integratorAccuracy = SimTK::NaN);
-
+#ifndef SWIG
 /// Convert a trajectory covering half the period of a symmetric motion into a
 /// trajectory over the full period. This is useful for simulations of half a
 /// gait cycle.
@@ -171,12 +171,23 @@ OSIMMOCO_API MocoTrajectory createPeriodicTrajectory(
                                             ".*lumbar_bending(?!/value).*",
                                             ".*lumbar_rotation.*"},
         std::vector<std::string> negateAndShiftPatterns = {
-                                                   ".*pelvis_list/value",
-                                                   ".*pelvis_tz/value",
-                                                   ".*lumbar_bending/value"},
+                                            ".*pelvis_list/value",
+                                            ".*pelvis_tz/value",
+                                            ".*lumbar_bending/value"},
         std::vector<std::pair<std::string, std::string>> symmetryPatterns =
                 {{R"(_r(\/|_|$))", "_l$1"}, {R"(_l(\/|_|$))", "_r$1"}});
-
+#else 
+// Variant that doesn't take symmetryPatterns which are unusable from scripting
+OSIMMOCO_API MocoTrajectory createPeriodicTrajectory(
+        const MocoTrajectory& halfPeriodTrajectory,
+        std::vector<std::string> addPatterns = {".*pelvis_tx/value"},
+        std::vector<std::string> negatePatterns = {".*pelvis_list(?!/value).*",
+                ".*pelvis_rotation.*", ".*pelvis_tz(?!/value).*",
+                ".*lumbar_bending(?!/value).*", ".*lumbar_rotation.*"},
+        std::vector<std::string> negateAndShiftPatterns = {
+                ".*pelvis_list/value", ".*pelvis_tz/value",
+                ".*lumbar_bending/value"});
+#endif
 /// This obtains the value of the OPENSIM_MOCO_PARALLEL environment variable.
 /// The value has the following meanings:
 /// - 0: run in series (not parallel).