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/Application/Examples/ShoulderBag/Model/Environment.any
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| a | b/Application/Examples/ShoulderBag/Model/Environment.any | ||
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| 1 | |||
| 2 | AnyFolder EnvironmentModel = { |
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| 3 | |||
| 4 | AnyFixedRefFrame GlobalRef = { |
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| 5 | Origin ={0.0,0.1,0.0}; |
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| 6 | #include "drawcoorsystem.any" |
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| 7 | };//GlobalRef |
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| 8 | |||
| 9 | // Bag segment |
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| 10 | AnySeg Bag = { |
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| 11 | Mass = 20; |
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| 12 | Jii = {0.2,0.2,1}/10; |
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| 13 | r0 = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0+{0,0,0.15}; |
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| 14 | AnyRefNode StrapFront = { |
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| 15 | sRel = {0.1, 0.1, 0}; |
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| 16 | }; |
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| 17 | AnyRefNode StrapBack = { |
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| 18 | sRel = {-0.1, 0.1, 0}; |
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| 19 | }; |
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| 20 | AnyDrawSurf surf = { |
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| 21 | FileName = "../Input/bag"; |
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| 22 | RGB = {128,0,0}/256; |
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| 23 | ScaleXYZ = {1,1,1}/100; |
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| 24 | }; |
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| 25 | }; |
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| 26 | |||
| 27 | // Create via points for the bag strap |
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| 28 | Main.Model.BodyModel.Right.ShoulderArm.Seg.Scapula = { |
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| 29 | AnyRefNode Strap1 = { |
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| 30 | sRel = {-0.05, 0.01, 0.02}; |
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| 31 | }; |
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| 32 | }; |
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| 33 | Main.Model.BodyModel.Right.ShoulderArm.Seg.Clavicula = { |
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| 34 | AnyRefNode Strap1 = { |
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| 35 | sRel = {0.1, 0.02, -0.01}; |
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| 36 | }; |
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| 37 | }; |
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| 38 | Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg = { |
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| 39 | AnyRefNode Strap1 = { |
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| 40 | sRel = {0.1, 0.25, 0.15}; |
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| 41 | }; |
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| 42 | }; |
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| 43 | |||
| 44 | // Contact point on the pelvis |
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| 45 | Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg = { |
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| 46 | AnyRefNode Bag = { |
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| 47 | sRel = {0.0, 0.0, 0.15}; |
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| 48 | }; |
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| 49 | }; |
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| 50 | |||
| 51 | // Constrain the bag to only slide up and down on the pelvis |
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| 52 | AnyPrismaticJoint PelvisBag = { |
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| 53 | AnyRefFrame &Pel = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.Bag; |
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| 54 | AnyRefFrame &Bag = .Bag; |
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| 55 | Axis = y; |
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| 56 | }; |
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| 57 | |||
| 58 | // Model the strap |
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| 59 | AnyKinPLine Strap = { |
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| 60 | AnyRefFrame &p1 = .Bag.StrapFront; |
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| 61 | AnyRefFrame &p2 = Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg.Strap1; |
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| 62 | AnyRefFrame &p3 = Main.Model.BodyModel.Right.ShoulderArm.Seg.Clavicula.Strap1; |
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| 63 | AnyRefFrame &p4 = Main.Model.BodyModel.Right.ShoulderArm.Seg.Scapula.Strap1; |
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| 64 | AnyRefFrame &p5 = .Bag.StrapBack; |
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| 65 | AnyDrawPLine drw = { |
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| 66 | RGB = {128,0,0}/256; |
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| 67 | Thickness = 0.01; |
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| 68 | }; |
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| 69 | }; |
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| 70 | |||
| 71 | // Strap length driver |
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| 72 | AnyKinEqSimpleDriver StrapLength = { |
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| 73 | AnyKinPLine &Strap = .Strap; |
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| 74 | DriverPos = {0.8}; |
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| 75 | DriverVel = {0}; |
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| 76 | }; |
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| 77 | }; |