42 lines (37 with data), 1.4 kB

  #if MOCAP_HUMAN_GROUND_RESIDUALS == "PelvisWeak" 
    #include "<ANYBODY_PATH_AMMR>/Tools/GRFPrediction/WeakResiduals.any"     
  #endif
    
  #if MOCAP_HUMAN_GROUND_RESIDUALS == "Pelvis"
  /// Dynamic balance residuals between the human and ground segments. 
  /// This is also sometimes refered to as the 'Hand of God' in some biomechanical 
  /// text books. This residual force is added to the Pelvis segment
  AnyReacForce HumanGroundResiduals = 
  {
    AnyKinLinear Lin = { 
      Ref = 0; 
      AnyRefFrame& ref0 = ...BodyModel.Trunk.SegmentsLumbar.PelvisSeg;
    };
    AnyKinRotational Rot = {
      Type = RotVector;
               AngVelOnOff = On;
      AnyRefFrame& ref0 = ...BodyModel.Trunk.SegmentsLumbar.PelvisSeg;
    };
  };
  #endif
  
  #if MOCAP_HUMAN_GROUND_RESIDUALS == "Trunk"
  /// Dynamic balance residuals between the human and ground segments. 
  /// This is also sometimes refered to as the 'Hand of God' in some biomechanical 
  /// text books. This residual force is added to the Trunk segment
  AnyReacForce HumanGroundResiduals = 
  {
    AnyKinLinear Lin = { 
      Ref = 0; 
      AnyRefFrame& ref0 = ...BodyModel.Trunk.SegmentsThorax.ThoraxSeg;
    };
    AnyKinRotational Rot = {
      Type = RotVector;
      AngVelOnOff = On;
      AnyRefFrame& ref0 = ...BodyModel.Trunk.SegmentsThorax.ThoraxSeg;
    };
  };
  #endif