--- a
+++ b/Tools/ModelUtilities/FrictionContactMuscles/ConditionalContactFootPlaneClass.any
@@ -0,0 +1,125 @@
+
+    
+    
+  #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;
+    };
+  };
+  
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