118 lines (90 with data), 4.2 kB

//This folders creates realistic support forces for a hand grappin an cylinder

//This file will typicaly be included directly from the Application joint and drivers file

//It needs the following input to work
//
//SideFolder : Reference to the rigth or left arm
//StartNode : This is the node on the body from where the force will act
//Strength  : Strenght of muscles acting in the y direction 
//FrictionStrength  : FrictionStrenght of muscles acting in the x and z direction
//DrawRef : Reference to drawsettings

AnyFolder HandCylinderSupport={
  
  //Create a surface that follow the hand
  //the segment will be carried by global ref and support the foot using artifcial muscles.
   
  AnySeg Cylinder={
    Mass=0;
    Jii={0,0,0};
    r0= ..SideFolderModel.ShoulderArm.Seg.Glove.r0;
    AnyRefNode Node={sRel={0,0,0};};
    
    //Create a surface under the hand
    AnyRefNode SurfaceNode ={

      AnyVec3  Color= Main.DrawSettings.Colors.AnyBodyBlue; //box color
      AnyVar   Opacity=1; //box transparency
      
      AnySurfCylinder Cylinder ={
        Radius=0.02;
        Length=0.1;
        AnyDrawParamSurf drw={
          
          RGB=Main.DrawSettings.Colors.AnyBodyBlue; //box color
          Opacity=1; //box transparency
        };
        
        
      };
    };
  };
  
  AnyReacForce SurfaceSupport ={
    AnyKinLinear Lin = {
     
      AnyRefNode &ref1 = ...StartNode;
      AnySeg &ref2 = ..Cylinder;
    };
    AnyKinRotational Rot = {
      AnyRefNode &ref1 = ...StartNode;
      AnySeg &ref2 = ..Cylinder;
      Type=RotVector;
    };  
    
    
  };
  
  
  AnyKinEqSimpleDriver SurfaceDrivers = {
    //This is the joint which connects the Pelvis segment to the bike.
    AnyKinLinear Lin ={
      Ref=0; 
      AnyRefNode &ref1 = ...SideFolderInterface.WristContactNode;   
      AnySeg &ref2  = ..Cylinder;     
    };
    AnyKinRotational Rot ={
      Ref=0; 
      AnyRefNode &Ball = ...SideFolderInterface.WristContactNode;
      AnySeg &Ref2  = ..Cylinder;     
      Type=RotVector;
    };
    DriverPos = {0.06,-0.03,-0.05,0,0,0};
    DriverVel = {0,0,0,0,0,0};
    Reaction.Type = {0,0,0,0,0,0}; 
  };
  
  
  
  
  
  AnyFolder PalmMedialSupport= {
    AnySeg &StartNode = .Cylinder;
    AnyRefNode &EndNode = ..SideFolderInterface.PalmMedialContactNode;
    //The terms push and pull are determined wrt. the coordinate system of the StartNode!
    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}
    AnyVector StrengthOfReactionsLin =  {..Strength,..Strength,..Strength,..Strength,..FrictionStrength,..FrictionStrength}; //List of strengths for the linear muscles    AnyFolder &DrawRef=Main.DrawSettings;
    AnyFolder &DrawRef=Main.DrawSettings;
    AnyVar ScaleFactor =0.5;
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 
    
  };
  
  
  AnyFolder PalmLateralSupport = {
    AnySeg &StartNode = .Cylinder;
    AnyRefNode &EndNode = ..SideFolderInterface.PalmLateralContactNode;
    
    //The terms push and pull are determined wrt. the coordinate system of the StartNode!
    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}
    AnyVector StrengthOfReactionsLin =  {..Strength,..Strength,..Strength,..Strength,..FrictionStrength,..FrictionStrength}; //List of strengths for the linear muscles    AnyFolder &DrawRef=Main.DrawSettings;
    AnyFolder &DrawRef=Main.DrawSettings;
    AnyVar ScaleFactor =0.5;
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 
  };
  
  
};