125 lines (101 with data), 4.5 kB

    
    
  #class_template ConditionalContactFootPlaneClass (AnyRefFrame &BaseObject, AnyFolder &Foot, DisplayTriggerVolume, DisplayTargetNode)
  {
    
    AnyRefFrame &TargetObject1 = Foot.ToeLateralContactNode;
    AnyRefFrame &TargetObject2 = Foot.ToeMedialContactNode;
    AnyRefFrame &TargetObject3 = Foot.HeelJoint;
    
    //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 UserDefinedLimitLow; 
    //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 UserDefinedLimitHigh; 
    //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; 
    
    #var AnyVar StaticFrictionCoefficient; //Friction coefficient
    #var AnyVar Strength =3000;  //strength of muscles
    #var AnyVar ScaleFactor =1; //scale factor for draw vectors it can be set differently than by the drawsettings
    
    #var AnyInt NormalDirection;
    #var AnyInt FrictionDirection1;
    #var AnyInt FrictionDirection2;
    
    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);
    
    #if (DisplayTriggerVolume)
    BaseObject = {
      AnyRefNode CylRotNode = {
        AnyDrawRefFrame drw = {
          #var ScaleXYZ = 0.3*{1,1,1};
        };
        sRel = {0,0,0};
        ARel = RotMat(..RotCoefY*..GlobalRotCoef*pi/2,y)*RotMat(..RotCoefX*..GlobalRotCoef*pi/2,x);
        AnyRefNode CylNode = {
          sRel = {0,0,...UserDefinedLimitLow};
          AnySurfCylinder TriggerCyl = 
          {
            Radius = ....UserDefinedRadiusLimit;
            Length = - ....UserDefinedLimitLow + ....UserDefinedLimitHigh;
            CapRatio = 0.001;
            AnyDrawParamSurf Draw = 
            {
              Opacity = 0.5;
            };
          };
        };
      };
    };
    #endif
    
    #if (DisplayTargetNode)
    TargetObject1 = {
      AnyDrawNode DrawContactTarget = {
        ScaleXYZ = {1,1,1}*0.015;
      };
    };
    
    TargetObject2 = {
      AnyDrawNode DrawContactTarget = {
        ScaleXYZ = {1,1,1}*0.015;
      };
    };
    
    TargetObject3 = {
      AnyDrawNode DrawContactTarget = {
        ScaleXYZ = {1,1,1}*0.015;
      };
    };
    #endif
    
    
    ConditionalContactClass Contac1 (BaseObject = .BaseObject, TargetObject = .TargetObject1, DisplayTriggerVolume = 0, DisplayTargetNode = 0)= 
    {
      StaticFrictionCoefficient = .StaticFrictionCoefficient;
      Strength = .Strength;
      ScaleFactor = .ScaleFactor;
      
      UserDefinedLimitLow = .UserDefinedLimitLow;
      UserDefinedLimitHigh = .UserDefinedLimitHigh;
      UserDefinedRadiusLimit = .UserDefinedRadiusLimit;
      
      NormalDirection = .NormalDirection;
      FrictionDirection1 = .FrictionDirection1;
      FrictionDirection2 = .FrictionDirection2;
    };
    
    ConditionalContactClass Contac2 (BaseObject = .BaseObject, TargetObject = .TargetObject2, DisplayTriggerVolume = 0, DisplayTargetNode = 0)= 
    {
      StaticFrictionCoefficient = .StaticFrictionCoefficient;
      Strength = .Strength;
      ScaleFactor = .ScaleFactor;
      
      UserDefinedLimitLow = .UserDefinedLimitLow;
      UserDefinedLimitHigh = .UserDefinedLimitHigh;
      UserDefinedRadiusLimit = .UserDefinedRadiusLimit;
      
      NormalDirection = .NormalDirection;
      FrictionDirection1 = .FrictionDirection1;
      FrictionDirection2 = .FrictionDirection2;
    };
    
    ConditionalContactClass Contac3 (BaseObject = .BaseObject, TargetObject = .TargetObject3, DisplayTriggerVolume = 0, DisplayTargetNode = 0)= 
    {
      StaticFrictionCoefficient = .StaticFrictionCoefficient;
      Strength = .Strength;
      ScaleFactor = .ScaleFactor;
      
      UserDefinedLimitLow = .UserDefinedLimitLow;
      UserDefinedLimitHigh = .UserDefinedLimitHigh;
      UserDefinedRadiusLimit = .UserDefinedRadiusLimit;
      
      NormalDirection = .NormalDirection;
      FrictionDirection1 = .FrictionDirection1;
      FrictionDirection2 = .FrictionDirection2;
    };
  };