// This is to switch On or Off the MannequinDrivers. It is a quick way to drive any joint of the body 

// with pre-existing drivers. They are based on the FreePosture drivers, 

// so they are driving directly the joint angles and are really independent from each other. Also

// all DOF can be driven separatly.

// 0 switch the driver Off and 1 switch it On.

// The input value for each driver is the joint angles and velocities defined below in the Mannequin folder.

// Notice that even if it is possible to drive fully the model with those drivers, we originaly thinked them

// as alternative or debug drivers.

// *********************************************************************************************************

// Global switch:

// - if turned to 1 the drivers will be activated according to their individual statut.

// - if turned to 0 all drivers will desactivated (regardless to their individual statut).

#define GLOBAL_DRIVER_SWITCH 0

// Drivers for attaching the pelvis to the global reference system

#define PELVIS_POS_X_DRIVER 1

#define PELVIS_POS_Y_DRIVER 1

#define PELVIS_POS_Z_DRIVER 1

#define PELVIS_ROT_Z_DRIVER 1

#define PELVIS_ROT_Y_DRIVER 1

#define PELVIS_ROT_X_DRIVER 1

// Drivers for the spine

#define NECK_DRIVER 1

#define PELVIS_THORAX_LATERAL_BENDING_DRIVER 1

#define PELVIS_THORAX_ROTATION_DRIVER 1

#define PELVIS_THORAX_EXTENSION_DRIVER 1

// Drivers for the right arm

#define STERNO_CLAVICULAR_RIGHT_DRIVER 1

#define GLENOHUMERAL_ABDUCTION_RIGHT_DRIVER 1

#define GLENOHUMERAL_FLEXION_RIGHT_DRIVER 1

#define GLENOHUMERAL_EXTERNAL_ROTATION_RIGHT_DRIVER 1

#define ELBOW_FLEXION_RIGHT_DRIVER 1

#define ELBOW_PRONATION_RIGHT_DRIVER 1

#define WRIST_FLEXION_RIGHT_DRIVER 1

#define WRIST_ABDUCTION_RIGHT_DRIVER 1

// Drivers for the left arm

#define STERNO_CLAVICULAR_LEFT_DRIVER 1

#define GLENOHUMERAL_ABDUCTION_LEFT_DRIVER 1

#define GLENOHUMERAL_FLEXION_LEFT_DRIVER 1

#define GLENOHUMERAL_EXTERNAL_ROTATION_LEFT_DRIVER 1

#define ELBOW_FLEXION_LEFT_DRIVER 1

#define ELBOW_PRONATION_LEFT_DRIVER 1

#define WRIST_FLEXION_LEFT_DRIVER 1

#define WRIST_ABDUCTION_LEFT_DRIVER 1

// Drivers for the right leg

#define HIP_FLEXION_RIGHT_DRIVER 1

#define HIP_EXTERNAL_ROTATION_RIGHT_DRIVER 1

#define HIP_ABDUCTION_RIGHT_DRIVER 1

#define KNEE_FLEXION_RIGHT_DRIVER 1

#define ANKLE_FLEXION_RIGHT_DRIVER 1

#define ANKLE_EVERSION_RIGHT_DRIVER 0

#define ANKLE_SUBTALAR_EVERSION_RIGHT_DRIVER 1

// Drivers for the Left leg

#define HIP_FLEXION_LEFT_DRIVER 1

#define HIP_EXTERNAL_ROTATION_LEFT_DRIVER 1

#define HIP_ABDUCTION_LEFT_DRIVER 1

#define KNEE_FLEXION_LEFT_DRIVER 1

#define ANKLE_FLEXION_LEFT_DRIVER 1

#define ANKLE_EVERSION_LEFT_DRIVER 0

#define ANKLE_SUBTALAR_EVERSION_LEFT_DRIVER 1

// Those variable control the initial position of the body.

// They are also the input values for the MannequinDrivers if switched On above.

// ****************************************************************************

Main.HumanModel.Mannequin = {

  Posture = {

    //This controls the position of the pelvi wrt. to the global reference frame

    PelvisPosX=0.046;

    PelvisPosY=1.16;

    PelvisPosZ=0;

    //This controls the rotation of the pelvis wrt. to the global reference frame

    PelvisRotX=0;

    PelvisRotY=0;

    PelvisRotZ=0;

    // These variables control the rotation of the thorax wrt the

    // pelvis    

    PelvisThoraxExtension=0; 

    PelvisThoraxLateralBending=0;  

    PelvisThoraxRotation=0;        

    NeckExtension=0; 

    NeckLateralBending=0; 

    NeckRotation=0; 

    Right = {

      //Arm 

      SternoClavicularProtraction=-23;   //This value is not used for initial position

      SternoClavicularElevation=11.5;    //This value is not used for initial position

      GlenohumeralFlexion =-0; 

      GlenohumeralAbduction = 10; 

      GlenohumeralExternalRotation = 0; 

      ElbowFlexion = 0.01; 

      ElbowPronation = -20.0;

      WristFlexion =0;

      WristAbduction =0;

      //Hand

      Finger1 ={

        CMCDeviation=-20;

        CMCFlexion=20;

        MCPFlexion= 20;

        MCPDeviation=0;

        DIPFlexion=20;

      };

      Finger2 ={

        MCPFlexion=20;

        PIPFlexion=20;

        DIPFlexion=20;

      };

      Finger3 ={

        MCPFlexion=20;

        PIPFlexion=20;

        DIPFlexion=20;

      };

      Finger4 ={

        MCPFlexion=20;

        PIPFlexion=20;

        DIPFlexion=20;

      };

      Finger5 ={

        MCPFlexion=20;

        PIPFlexion=20;

        DIPFlexion=20;

      };

      //Leg

      HipFlexion = 0.0; 

      HipAbduction = 5.0; 

      HipExternalRotation = 0.0;

      KneeFlexion = 0.0; 

      AnklePlantarFlexion =0.0; 

      SubTalarEversion =0.0; 

    };

    Left = {

      //all values are set to be equal to the right side values 

      //feel free to change this!

      //Arm

      SternoClavicularProtraction=.Right.SternoClavicularProtraction;

      SternoClavicularElevation=.Right.SternoClavicularElevation;

      GlenohumeralFlexion = .Right.GlenohumeralFlexion ; 

      GlenohumeralAbduction =.Right.GlenohumeralAbduction ;

      GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ;

      ElbowFlexion = .Right.ElbowFlexion; 

      ElbowPronation = .Right.ElbowPronation;       

      WristFlexion =.Right.WristFlexion;

      WristAbduction =.Right.WristAbduction;

      //Hand

      Finger1 ={

        CMCDeviation= ..Right.Finger1.CMCDeviation;

        CMCFlexion= ..Right.Finger1.CMCFlexion;

        MCPFlexion= ..Right.Finger1.MCPFlexion;

        MCPDeviation= ..Right.Finger1.MCPDeviation;

        DIPFlexion= ..Right.Finger1.DIPFlexion;

      };

      Finger2 ={

        MCPFlexion= ..Right.Finger2.MCPFlexion;

        PIPFlexion= ..Right.Finger2.PIPFlexion;

        DIPFlexion= ..Right.Finger2.DIPFlexion;

      };

      Finger3 ={

        MCPFlexion= ..Right.Finger3.MCPFlexion;

        PIPFlexion= ..Right.Finger3.PIPFlexion;

        DIPFlexion= ..Right.Finger3.DIPFlexion;

      };

      Finger4 ={

        MCPFlexion= ..Right.Finger4.MCPFlexion;

        PIPFlexion= ..Right.Finger4.PIPFlexion;

        DIPFlexion= ..Right.Finger4.DIPFlexion;

      };

      Finger5 ={

        MCPFlexion= ..Right.Finger5.MCPFlexion;

        PIPFlexion= ..Right.Finger5.PIPFlexion;

        DIPFlexion= ..Right.Finger5.DIPFlexion;

      };

      //Leg     

      HipFlexion =.Right.HipFlexion;  

      HipAbduction =.Right.HipAbduction;

      HipExternalRotation = .Right.HipExternalRotation;

      KneeFlexion = .Right.KneeFlexion;       

      AnklePlantarFlexion = .Right.AnklePlantarFlexion ;

      SubTalarEversion =.Right.SubTalarEversion; 

    };

  };

  PostureVel={  

    //This controls the position of the pelvi wrt. to the global reference frame

    PelvisPosX=0;

    PelvisPosY=0;

    PelvisPosZ=0;

    //This controls the rotation of the pelvis wrt. to the global reference frame

    PelvisRotX=0;

    PelvisRotY=0;

    PelvisRotZ=0;

    // These variables control the rotation of the thorax wrt the

    // pelvis    

    PelvisThoraxExtension=0; 

    PelvisThoraxLateralBending=0;  

    PelvisThoraxRotation=0;        

    NeckExtension=0; 

    NeckLateralBending=0; 

    NeckRotation=0; 

    Right = {

      //Arm 

      SternoClavicularProtraction=0;   //This value is not used for initial position

      SternoClavicularElevation=0;    //This value is not used for initial position

      GlenohumeralFlexion =0; 

      GlenohumeralAbduction = 0; 

      GlenohumeralExternalRotation = 0; 

      ElbowFlexion = 0.0;

      ElbowPronation = 0.0;

      WristFlexion =0;

      WristAbduction =0;

      //Leg

      HipFlexion = 7.0; 

      HipAbduction = 0.0; 

      HipExternalRotation = 0.0;

      KneeFlexion = 7.0; 

      AnklePlantarFlexion =0.0; 

      SubTalarEversion =0.0; 

    };

    Left = {

      //all values are set to be equal to the right side values 

      //feel free to change this!

      //Arm

      SternoClavicularProtraction=.Right.SternoClavicularProtraction;

      SternoClavicularElevation=.Right.SternoClavicularElevation;

      GlenohumeralFlexion = .Right.GlenohumeralFlexion ; 

      GlenohumeralAbduction =.Right.GlenohumeralAbduction ;

      GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ;

      ElbowFlexion = .Right.ElbowFlexion; 

      ElbowPronation = .Right.ElbowPronation;       

      WristFlexion =.Right.WristFlexion;

      WristAbduction =.Right.WristAbduction;

      //Leg     

      HipFlexion =.Right.HipFlexion;  

      HipAbduction =.Right.HipAbduction;

      HipExternalRotation = .Right.HipExternalRotation;

      KneeFlexion = .Right.KneeFlexion;       

      AnklePlantarFlexion = .Right.AnklePlantarFlexion ;

      SubTalarEversion =.Right.SubTalarEversion; 

    };

  };

  AnyFolder Load = {

    AnyVec3 TopVertebra = {0.000, 0.000, 0.000};

    AnyFolder Right = {

      AnyVec3 Shoulder  = {0.000, 0.000, 0.000};

      AnyVec3 Elbow     = {0.000, 0.000, 0.000};

      AnyVec3 Hand      = {0.000, 0.000, 0.000};

      AnyVec3 Hip       = {0.000, 0.000, 0.000};

      AnyVec3 Knee      = {0.000, 0.000, 0.000};

      AnyVec3 Ankle     = {0.000, 0.000, 0.000};

    };

    AnyFolder Left = {

      AnyVec3 Shoulder  = {0.000, 0.000, 0.000};

      AnyVec3 Elbow     = {0.000, 0.000, 0.000};

      AnyVec3 Hand      = {0.000, 0.000, 0.000};

      AnyVec3 Hip       = {0.000, 0.000, 0.000};

      AnyVec3 Knee      = {0.000, 0.000, 0.000};

      AnyVec3 Ankle     = {0.000, 0.000, 0.000};

    };

  };  // Loads

};