#class_template ConditionalContactDistanceAndVelocityDepClass (AnyRefFrame &BaseObject, AnyRefFrame &TargetObject, DisplayTriggerVolume = 0, DisplayTargetNode=0)

  {

    AnyComponentDefinition obj = {};

    AnyRefFrame &StrengthObject=TargetObject; //Node used for strength measurement, occasionally this is different from the target object

    AnyFolder &DrawRef=Main.DrawSettings; //reference to the folder which contains drawsettings

    //low limit for the strength measure function, if the distance measured along Direction[0] is below this val. the strength will be zero (negative)

    #var AnyVar UserDefinedDistLimitLow; 

    //high limit for the strength measure function, if the distance measured along Direction[0] is above this val. the strength will be zero

    #var AnyVar UserDefinedDistLimitHigh ; 

    //high limit for the strength measure function, if the radius measured along the plane with Direction[0] as normal is above this val. the strength will be zero

    #var AnyVar UserDefinedRadiusLimit;

    //high limit for the strength measure function, if the velocity measured is above this val. the strength will be zero

    #var AnyVar UserDefinedVelLimitHigh; 

    #var AnyVec3 UserDefinedGroundVel = {0,0,0};

    #if (DisplayTriggerVolume)

    BaseObject = {

      AnyRefNode CylRotNode = {

        sRel = {0,0,0};

        ARel = RotMat(..RotCoefY*..GlobalRotCoef*pi/2,y)*RotMat(..RotCoefX*..GlobalRotCoef*pi/2,x);

        AnyRefNode CylNode = {

          sRel = {0,0,...UserDefinedDistLimitLow};

          AnySurfCylinder TriggerCyl = 

          {

            Radius = ....UserDefinedRadiusLimit;

            Length = - ....UserDefinedDistLimitLow + ....UserDefinedDistLimitHigh;

            CapRatio = 0.001;

            AnyDrawParamSurf Draw = 

            {

              Visible = On;

              Opacity = 0.5;

            };

          };

        };

      };

    };

    #endif

    #if (DisplayTargetNode)

    TargetObject = {

      AnyDrawNode DrawContactTarget = {

        ScaleXYZ = {1,1,1}*0.015;

      };

    };

    #endif

    #var AnyVar Strength;  //strength of muscles

    #var AnyVar StaticFrictionCoefficient; //Friction coefficient

    #var AnyVar ScaleFactor =1; //scale factor for draw vectors it can be set differently than by the drawsettings

    #var AnyInt NormalDirection = Z;

    #var AnyInt FrictionDirection1 = X;

    #var AnyInt FrictionDirection2 = Y;

    AnyInt X = 0;

    AnyInt Y = 1;

    AnyInt Z = 2;

    AnyVar GlobalRotCoef = iffun(2-NormalDirection,1,0); // 0 if z is normal, if not 1

    AnyVar RotCoefY = iffun(NormalDirection,0,1);

    AnyVar RotCoefX = iffun(NormalDirection,-1,0);

    AnyIntArray Direction = {NormalDirection,FrictionDirection1,FrictionDirection2}; //first element gives normal direction

    #include  "ContactSurfaceDistanceAndVelocityDepLinPush.any"

  };