165 lines (139 with data), 7.4 kB

AnyFolder InterfaceMorphingDef = {
  #if ! BM_LEG_MODEL_IS_TLEM
    AnyFunTransform3DIdentity IM_Leg_To_Trunk_Unscaled= {};
    AnyFunTransform3DIdentity IM_Trunk_To_Leg_Unscaled= {};     
  #else
    /// IM landmarks of the trunk's pelvis 
    AnyMatrix points_RBF_TrunkPelvis_Unscaled = .StdPar.points_RBF_unscaled;
    #if BM_LEG_MODEL_IS_TLEM
      /// IM landmarks of the leg's pelvis  
      AnyMatrix points_RBF_LegPelvis_Unscaled = ....LEG_MODEL_PARAM_DIRECTION.Leg.ModelParameters.Pelvis.points_RBF_unscaled;
    #endif

    #ifndef BM_LEG_TRUNK_INTERFACE
      #define BM_LEG_TRUNK_INTERFACE _MORPH_NONE_
    #endif

    #if BM_LEG_TRUNK_INTERFACE == _MORPH_NONE_
      ///^ Interface morphing was switched off. 
      ///^ Neither trunk nor leg pelvis are modified by the interface morphing.
   
      AnyFunTransform3DIdentity IM_Trunk_To_Leg_Unscaled = {};

      #if BM_LEG_MODEL_IS_TLEM
        /// A rigid body transformation from the leg to the trunk 
        /// coordinate systems using the anatomical ref. frame as intermediate system.
        /// No morphing is applied.
        AnyFunTransform3D IM_Leg_To_Trunk_Unscaled = {

          AnyFloat Trunk_Pelvis_AnatomicalFrame_s = MACRO_CONSTRUCT_ANATOMICAL_FRAME_s(..AnatomicalFrame.pUnscaled_Trunk_Pelvis, 1) ;
          AnyFloat Trunk_Pelvis_AnatomicalFrame_A = MACRO_CONSTRUCT_ANATOMICAL_FRAME_A(..AnatomicalFrame.pUnscaled_Trunk_Pelvis, 1) ;
          AnyFloat Leg_Pelvis_AnatomicalFrame_s = MACRO_CONSTRUCT_ANATOMICAL_FRAME_s(..AnatomicalFrame.pUnscaled_Leg_Pelvis, 1) ;
          AnyFloat Leg_Pelvis_AnatomicalFrame_A = MACRO_CONSTRUCT_ANATOMICAL_FRAME_A(..AnatomicalFrame.pUnscaled_Leg_Pelvis, 1) ;

          AnyFunTransform3DLin tr1 = {
            ScaleMat = (.Leg_Pelvis_AnatomicalFrame_A)' ;
            Offset = -.Leg_Pelvis_AnatomicalFrame_s ;
          };

          AnyFunTransform3DLin tr2 = {
            ScaleMat = (.Trunk_Pelvis_AnatomicalFrame_A);
            Offset = .Trunk_Pelvis_AnatomicalFrame_s * .Trunk_Pelvis_AnatomicalFrame_A ;
          };
          PreTransforms = {&tr1, &tr2 };
        };
      #endif
    #endif

    #if BM_LEG_TRUNK_INTERFACE == _MORPH_TRUNK_TO_LEG_
      ///^ Interface morphing for morphing trunk pelvis into the leg pelvis 

      /// An affine transformation to deform trunk pelvis into the leg pelvis 
      /// It serves a purpose of being a pretransform for the RBF transformation.
      AnyFunTransform3DLin2 IM_Trunk_To_Leg_Affine = {
        Points0 = .points_RBF_TrunkPelvis_Unscaled;
        Points1 = .points_RBF_LegPelvis_Unscaled;
        Mode = VTK_LANDMARK_AFFINE ;
      };

      /// An non-linear RBF deformation transformation to deform trunk pelvis into the leg pelvis 
      /// This will result in the trunk geomtries in coordinate system of the leg pelvis.
      AnyFunTransform3DRBF IM_Trunk_To_Leg_RBF = {
        PreTransforms = {&.IM_Trunk_To_Leg_Affine};
        Points0 = .points_RBF_TrunkPelvis_Unscaled;
        Points1 = .points_RBF_LegPelvis_Unscaled;

        RBFDef.Type = RBF_MultiQuadratic;
        RBFDef.Param = 0.4;

        BoundingBox.ScaleXYZ = 5*{1, 1, 1};
        BoundingBox.DivisionFactorXYZ = 2*{1, 1, 1};
        BoundingBoxOnOff = On;
        BoundingBox.Type = BB_Cartesian ;
      };

      /// A rigid body registration transformation from the leg pelvis into the 
      /// trunk pelvis coordinate system done in a least square manner using landmarks.
      AnyFunTransform3DLin2 IM_Leg_To_Trunk_RigidBody = {
        Points0 = .points_RBF_LegPelvis_Unscaled;
        Points1 = .points_RBF_TrunkPelvis_Unscaled;
        Mode = VTK_LANDMARK_RIGIDBODY;
      };

      /// A rigid body registration transformation from the trunk pelvis into the 
      /// leg pelvis coordinate system done in a least square manner using landmarks.
      AnyFunTransform3DLin2 IM_Trunk_To_Leg_RigidBody = {
        Points0 = .points_RBF_TrunkPelvis_Unscaled;
        Points1 = .points_RBF_LegPelvis_Unscaled;
        Mode = VTK_LANDMARK_RIGIDBODY;
      };
      
      /// Interface morphing function that morphs trunk pelvis into the leg pelvis 
      /// and registers back into the trunk coordinate system.
      AnyFunTransform3D IM_Trunk_To_Leg_Unscaled = {
        PreTransforms = {&.IM_Trunk_To_Leg_RBF, &.IM_Leg_To_Trunk_RigidBody};
      };

      /// Interface morphing function that morphs leg pelvis into the trunk pelvis 
      AnyFunTransform3DLin2 IM_Leg_To_Trunk_Unscaled = {
        Points0 = .points_RBF_LegPelvis_Unscaled;
        Points1 = .IM_Trunk_To_Leg_Unscaled(.points_RBF_TrunkPelvis_Unscaled);
        Mode = VTK_LANDMARK_RIGIDBODY;
      };

    #endif

    #if BM_LEG_TRUNK_INTERFACE == _MORPH_LEG_TO_TRUNK_
      ///^ Interface morphing for morphing trunk pelvis into the leg pelvis 
    
      /// An affine transformation to deform leg pelvis into the trunk pelvis 
      /// It serves a purpose of being a pretransform for the RBF transformation.
      AnyFunTransform3DLin2 IM_Leg_To_Trunk_Affine = {
        Points0 = .points_RBF_LegPelvis_Unscaled;
        Points1 = .points_RBF_TrunkPelvis_Unscaled;
        Mode = VTK_LANDMARK_AFFINE ;
      };

      /// An non-linear RBF deformation transformation to deform leg pelvis into the trunk pelvis 
      /// This will result in the trunk geomtries in coordinate system of the trunk pelvis.
      AnyFunTransform3DRBF IM_Leg_To_Trunk_RBF = {
        PreTransforms = {&.IM_Leg_To_Trunk_Affine};
        Points0 = .points_RBF_LegPelvis_Unscaled;
        Points1 = .points_RBF_TrunkPelvis_Unscaled;

        RBFDef.Type = RBF_MultiQuadratic;
        RBFDef.Param = 0.4;

        BoundingBox.ScaleXYZ = 5*{1, 1, 1};
        BoundingBox.DivisionFactorXYZ = 2*{1, 1, 1};
        BoundingBoxOnOff = On;
        BoundingBox.Type = BB_Cartesian ;
      };

      /// Interface morphing function that morphs leg pelvis into the trunk pelvis 
      AnyFunTransform3D IM_Leg_To_Trunk_Unscaled = {
        PreTransforms = {&.IM_Leg_To_Trunk_RBF};
      };

      /// An identity transformation that implies usage of the trunk pelvis 
      AnyFunTransform3DIdentity IM_Trunk_To_Leg_Unscaled = {};
    #endif
  #endif
  /// A combined transformation that prepares trunk pelvis geometry 
  /// prior to applying geometric scaling
  AnyFunTransform3DIdentity IM_Trunk_To_Leg = {
    PreTransforms = {&.IM_Trunk_To_Leg_Unscaled, &..GeomScale};
  };
  
  /// A combined transformation that prepares leg pelvis geometry 
  /// prior to applying geometric scaling
  AnyFunTransform3DIdentity IM_Leg_To_Trunk = {
    PreTransforms = {&.IM_Leg_To_Trunk_Unscaled, &..GeomScale};
  };

  /// Function to correct segments above the pelvis
  /// These segments have an offset after the pelvis interface morphing
  /// Here we find that offset in order to subtract it
  AnyFunTransform3DLin IM_Trunk_To_Leg_AboveSacrum = {
    ScaleMat = eye(3,3);
    /// We find the joint point where sacrum joins L5
    AnyFloat sacrum_unscaled = ....ModelParameters.Sacrum.SacrumL5JntNode_pos;
    AnyFloat sacrum_im = .IM_Trunk_To_Leg_Unscaled(sacrum_unscaled);
    /// The offset is the difference from unscaled to IM scaled of the point
    Offset = sacrum_im - sacrum_unscaled;
  };
};