Don't call LoadOpenSimLibrary("osimActuators") in tests

OpenSim/Simulation/SimbodyEngine/Test/testJoints.cpp

@@ -47,7 +47,6 @@
 #include <OpenSim/Common/Constant.h>
 #include <OpenSim/Common/FunctionAdapter.h>
 #include <OpenSim/Common/LinearFunction.h>
-#include <OpenSim/Common/LoadOpenSimLibrary.h>
 #include <OpenSim/Common/SimmSpline.h>
 #include <OpenSim/Simulation/Manager/Manager.h>
 #include <OpenSim/Simulation/Model/BodySet.h>
@@ -69,6 +68,7 @@
 #include <OpenSim/Simulation/SimbodyEngine/WeldConstraint.h>
 #include <OpenSim/Simulation/SimbodyEngine/WeldJoint.h>
 #include <OpenSim/Simulation/Test/SimulationComponentsForTesting.h>
+#include <OpenSim/Actuators/PointActuator.h>
 
 #include <memory>
 #include <catch2/catch_all.hpp>
@@ -2059,9 +2059,12 @@ TEST_CASE("testEquivalentBodyForceFromGeneralizedForce") {
             "==="
          << endl;
 
-    // Need to load osim actuators because the following model has
-    // Actuators that will fail to register and the model will not load.
-    LoadOpenSimLibrary("osimActuators");
+    // The following model(s) contains Actuators that are registered when the
+    // osimActuators library is loaded. But unless we call at least one
+    // function defined in the osimActuators library, some linkers will omit
+    // its dependency from the executable and it will not be loaded at
+    // startup.
+    { PointActuator t; }
 
     Model gaitModel("testJointConstraints.osim");
 

OpenSim/Simulation/Test/testInitState.cpp

@@ -24,7 +24,7 @@
 #include <OpenSim/Simulation/Manager/Manager.h>
 #include <OpenSim/Simulation/Control/ControlSetController.h>
 #include <OpenSim/Simulation/Model/Model.h>
-#include <OpenSim/Common/LoadOpenSimLibrary.h>
+#include <OpenSim/Actuators/PointActuator.h>
 #include <OpenSim/Auxiliary/auxiliaryTestFunctions.h>
 #include <catch2/catch_all.hpp>
 
@@ -41,7 +41,14 @@ using namespace std;
 TEST_CASE("testStates")
 {
     using namespace SimTK;
-    LoadOpenSimLibrary("osimActuators");
+
+    // The following model(s) contains Actuators that are registered when the
+    // osimActuators library is loaded. But unless we call at least one
+    // function defined in the osimActuators library, some linkers will omit
+    // its dependency from the executable and it will not be loaded at
+    // startup.
+    { PointActuator t; }
+
     //==========================================================================
     // Setup OpenSim model
     std::string modelFile = "arm26.osim";

OpenSim/Simulation/Test/testModelInterface.cpp

@@ -25,7 +25,7 @@
 #include <OpenSim/Simulation/Model/PhysicalOffsetFrame.h>
 #include <OpenSim/Simulation/SimbodyEngine/PinJoint.h>
 #include <OpenSim/Simulation/Manager/Manager.h>
-#include <OpenSim/Common/LoadOpenSimLibrary.h>
+#include <OpenSim/Actuators/PointActuator.h>
 
 #include <memory>
 
@@ -37,7 +37,12 @@ void testModelTopologyErrors();
 void testDoesNotSegfaultWithUnusualConnections();
 
 int main() {
-    LoadOpenSimLibrary("osimActuators");
+    // The following model(s) contains Actuators that are registered when the
+    // osimActuators library is loaded. But unless we call at least one
+    // function defined in the osimActuators library, some linkers will omit
+    // its dependency from the executable and it will not be loaded at
+    // startup.
+    { PointActuator t; }
 
     SimTK_START_TEST("testModelInterface");
         SimTK_SUBTEST(testModelFinalizePropertiesAndConnections);

OpenSim/Simulation/Test/testMomentArms.cpp

@@ -37,7 +37,6 @@
 #include <OpenSim/Simulation/osimSimulation.h>
 #include <OpenSim/Actuators/Thelen2003Muscle.h>
 #include <OpenSim/Auxiliary/auxiliaryTestFunctions.h>
-#include <OpenSim/Common/LoadOpenSimLibrary.h>
 
 #include "SimulationComponentsForTesting.h"
 
@@ -59,7 +58,6 @@ void testMomentArmsAcrossCompoundJoint();
 int main()
 {
     clock_t startTime = clock();
-    LoadOpenSimLibrary("osimActuators");
     Object::registerType(CompoundJoint());
 
     try {

OpenSim/Simulation/Test/testSimulationUtilities.cpp

@@ -25,15 +25,20 @@
 #include <OpenSim/Simulation/Model/Model.h>
 #include <OpenSim/Simulation/SimbodyEngine/FreeJoint.h>
 #include <OpenSim/Simulation/SimulationUtilities.h>
-#include <OpenSim/Common/LoadOpenSimLibrary.h>
+#include <OpenSim/Actuators/PointActuator.h>
 
 using namespace OpenSim;
 using namespace std;
 
 void testUpdatePre40KinematicsFor40MotionType();
 
 int main() {
-    LoadOpenSimLibrary("osimActuators");
+    // The following model(s) contains Actuators that are registered when the
+    // osimActuators library is loaded. But unless we call at least one
+    // function defined in the osimActuators library, some linkers will omit
+    // its dependency from the executable and it will not be loaded at
+    // startup.
+    { PointActuator t; }
 
     SimTK_START_TEST("testSimulationUtilities");
         SimTK_SUBTEST(testUpdatePre40KinematicsFor40MotionType);

OpenSim/Simulation/Test/testStatesTrajectory.cpp

@@ -23,7 +23,7 @@
 
 #include <OpenSim/Simulation/osimSimulation.h>
 #include <OpenSim/Common/Constant.h>
-#include <OpenSim/Common/LoadOpenSimLibrary.h>
+#include <OpenSim/Actuators/PointActuator.h>
 #include <random>
 #include <cstdio>
 #include <OpenSim/Auxiliary/auxiliaryTestFunctions.h>
@@ -776,10 +776,13 @@ void testExport() {
 
 int main() {
     SimTK_START_TEST("testStatesTrajectory");
-        // actuators library is not loaded automatically (unless using clang).
-        #if !defined(__clang__)
-            LoadOpenSimLibrary("osimActuators");
-        #endif
+
+    // The following model(s) contains Actuators that are registered when the
+    // osimActuators library is loaded. But unless we call at least one
+    // function defined in the osimActuators library, some linkers will omit
+    // its dependency from the executable and it will not be loaded at
+    // startup.
+    { PointActuator t; }
 
         // Make sure the states Storage file doesn't already exist; we'll
         // generate it later and we don't want to use a stale one by accident.