//This is a place holder for the modeling of the environment.

AnyFolder Environment = 

{

  AnyFixedRefFrame GlobalRef = 

  {

    Origin ={0.0,0.0,0.0}; 

    AnyDrawRefFrame DrwRef = 

    {

      ScaleXYZ = 0.1*{1, 1, 1};

      RGB ={0,1,0} ;

    };

    AnyRefNode FloorOffset = 

    {

    };

    AnyRefNode SurfNode= 

    {

      //sRel={0, -surf.Length*0.5, 0};

      ARel = RotMat(-pi/2, x);

      AnySurfCylinder surf = 

      {

        Radius = Main.Parameters.GroundSupportBaseRadius ;

        Length = Main.Parameters.GroundSupportBaseLimitHigh;

        CapRatio = 0;      

        AnyDrawParamSurf drw =

        {

          RGB={0,1,1};

          Opacity=0.2;

        };

      };

      AnyRefNode ReverseNode = 

      {

        ARel = RotMat(pi, x);

        AnySurfCylinder surf = 

        {

          Radius = Main.Parameters.GroundSupportBaseRadius ;

          Length = -Main.Parameters.GroundSupportBaseLimitLow;

          CapRatio = 0;      

          AnyDrawParamSurf drw =

          {

            RGB={1,1,0};

            Opacity=0.2;

          };

        };        

      };

    };  

    AnyRefNode FootPrintBase_Right = 

    {

      sRel = {0, 0, ADL_SQUAT_DISTANCE_BETWEEN_TOE_MEDIAL_NODES_SHOULDER_WIDTH_RATIO * Main.Parameters.ScaledShoulderWidth * 0.5};

      ARel = RotMat(-ADL_SQUAT_ANGLE_FOOT_ROTATION*pi/180, y);

//      AnyDrawRefFrame DrwFrame = 

//      {

//        ScaleXYZ = 0.1*{1, 1, 1};

//        RGB = {0, 0, 1};

//      };

    };

    AnyRefNode FootPrintBase_Left = 

    {

      sRel = {0, 0, -ADL_SQUAT_DISTANCE_BETWEEN_TOE_MEDIAL_NODES_SHOULDER_WIDTH_RATIO * Main.Parameters.ScaledShoulderWidth * 0.5};

      ARel = RotMat(ADL_SQUAT_ANGLE_FOOT_ROTATION*pi/180, y);

//      AnyDrawRefFrame DrwFrame = 

//      {

//        ScaleXYZ = 0.1*{1, 1, 1};

//        RGB = {0, 0, 1};

//      };

    };    

  };//GlobalRef

};