#include "../libdef.any"

/** ----------------------------------------------------------------------------

This model uses the full body model, i.e. most of the body parts available

in the AAUHuman part of the Body directory. The model is grounded at the

pelvis and the posture if the model is controlled through a mannequin.any 

file by means of joint angles.

This application is a really good starting point for new applications 

involving the entire body.

The model do not contain muscles and is only intended for running kinematic analysis

The model has several configurations which can be changed in the file "Config.any"

BodyModelSelection can be either "FullBodyModel"  or "FullBodySRHand" 

FullBodyModel is a fullbody model

FullBodyModelSRHand is a fullbody model with a detailed hand and shoulder rhythm

CONFIGURATION2 can be either "FreePostureStatic" or "FreePostureMove"

FreePostureStatic is a static model which do not move its joint angles are controlled in the "mannequin.any" file 

FreePostureMove is a dynamic model controlled through angles which can be set in the "MannequinInterpolation.any" file

---------------------------------------------------------------------------- */

Main = {

  // ----------------------------------------------------------

  // Driver type settings

  // ----------------------------------------------------------

  #ifndef DriverSelection

    #define DriverSelection "FreePostureStatic"

  #endif

  // ----------------------------------------------------------

  // Path to draw settings

  // ----------------------------------------------------------

  #include "Model/DrawSettings.any"

  // ----------------------------------------------------------

  // Model configuration:

  // For more info on body model configuration options please load the model and double click on: 

  // #path HTML_DOC "<AMMR_PATH_DOC>/bm_config/index.html"

  // ----------------------------------------------------------

  // The model is without muscles

//  #define BM_LEG_MUSCLES_LEFT OFF

//  #define BM_LEG_MUSCLES_RIGHT OFF

//  #define BM_ARM_MUSCLES_LEFT OFF

//  #define BM_ARM_MUSCLES_RIGHT OFF

//  #define BM_TRUNK_MUSCLES OFF

  // Remove default drivers

  #define BM_MANNEQUIN_DRIVER_DEFAULT OFF

  // The Mannequin file specifies load-time positions for all the segments

  // in the HumanModel. This is important for the model's ablity to resolve

  // all the kinematic constraints when the model is analyzed.

  // The mannequin file also drives those degrees of freedom of the human 

  // model that are not governed by problem-specific drivers at run time.    

  #if DriverSelection == "FreePostureStatic"

    // use different initial positions for two configurations

    #include "Model/Mannequin.any" 

  #else //#if DriverSelection == "FreePostureMove"

    // use different initial positions for two configurations

    #include "Model/MannequinInterpolation.any" 

  #endif

  // Model of the human body to be used for the analysis  

  #include "<ANYBODY_PATH_BODY>/HumanModel.any"

  // The actual model where all components are assembled

  AnyFolder Model={

    /// Body model without default drivers

    AnyFolder &BodyModel=.HumanModel.BodyModel;

    /// Reference to the mannequin folder (used by drivers)

    AnyFolder &Mannequin =.HumanModel.Mannequin;

    #include "Model/Environment.any"   

    /// Constraints and drivers

    AnyFolder ModelEnvironmentConnection = {    

     #if DriverSelection == "FreePostureStatic"

         #include "Model/JointsAndDriversConstant.any"

     #else //#if DriverSelection == "FreePostureMove"

         #include "Model/JointsAndDriversInterpolation.any"

     #endif

    };

  };

  AnyBodyStudy Study = {

    Kinematics.KinematicTol =1e-8;

    // Prevent the switching of solvers

    InverseDynamics.Criterion.UpperBoundOnOff = Off;

    AnyFolder &Model = .Model;

    tEnd = 0.98;

    Gravity = {0.0, -9.81, 0.0};

    #if DriverSelection=="FreePostureStatic"

    nStep = 1;

    #endif

    #if DriverSelection=="FreePostureMove"

    nStep = 50;

    #endif   

    #include "Model/MuscleSymmetryCheck.any"

  }; // End of study

  // Include an operation sequence to run all required steps of your application (see Operations tab)

    #include "<ANYBODY_PATH_MODELUTILS>\Operations\RunAppSequence.any"

}; //Main