430 lines (406 with data), 16.5 kB

#define Macro_DrawRedBall(_TARGETNODENAME_, _DRAWOBJECTNAME_) _TARGETNODENAME_ = { AnyDrawNode _DRAWOBJECTNAME_ = { RGB = {1, 0, 0}; Opacity = 0.5; ScaleXYZ = 0.015*{1, 1, 1}; }; };
#define Macro_DrawGreenBall(_TARGETNODENAME_, _DRAWOBJECTNAME_) _TARGETNODENAME_ = { AnyDrawNode _DRAWOBJECTNAME_ = { RGB = {0, 1, 0}; Opacity = 0.5; ScaleXYZ = 0.015*{1, 1, 1}; }; };
#define Macro_DrawBlueBall(_TARGETNODENAME_, _DRAWOBJECTNAME_) _TARGETNODENAME_ = { AnyDrawNode _DRAWOBJECTNAME_ = { RGB = {0, 0, 1}; Opacity = 0.5; ScaleXYZ = 0.015*{1, 1, 1}; }; };


#class_template ClassDefineHumanEnvironmentConnection(
UserInputConnectionType, 
UserInputHumanSegType, AnyFolder& UserInputRefHumanSeg, UserInputHumanSegSingleConnectiontNodeName, 
AnyRefFrame& UserInputTargetName, UserInputTargetNormalDir, 
UserInputApplyingForceOnOff, UserInputApplyingForceNodeName, UserInputUseGlobalApplyingForceOnOff, 
UserInputCalcReacOnOff, UserInputCalcReacNodesNumber)
{  
  #var AnyVec3 UserInputConnectNodeInHumanSeg_Offset_sRel = {0, 0, 0};
  #var AnyMat33 UserInputConnectNodeInHumanSeg_Offset_ARel = {{1,0,0},{0,1,0},{0,0,1}};
  
  #var AnyVec3 sRel_ConnectNodeInHumanSeg = UserInputRefHumanSeg.UserInputHumanSegSingleConnectiontNodeName.sRel + UserInputConnectNodeInHumanSeg_Offset_sRel ;
  #var AnyMat33 ARel_ConnectNodeInHumanSeg = UserInputRefHumanSeg.UserInputHumanSegSingleConnectiontNodeName.ARel * UserInputConnectNodeInHumanSeg_Offset_ARel ;
  
  #if UserInputApplyingForceOnOff == 1
    #var AnyVec3 sRel_ApplyingForceNodeInHumanSeg =  UserInputRefHumanSeg.UserInputApplyingForceNodeName.sRel ;
    #var AnyMat33 ARel_ApplyingForceNodeInHumanSeg = UserInputRefHumanSeg.UserInputApplyingForceNodeName.ARel ; 
  #endif
  
  AnyFolder &DrawRef=Main.DrawSettings;
  
  #var AnyVec3 UserInputApplyingForce = {0, 0, 0};
  #var AnyVec3 UserInputApplyingMoment = {0, 0, 0};
  
  #var AnyVar UserInputReacVolumeHeightLimitLow = -0.05 ;
  #var AnyVar UserInputReacVolumeHeightLimitHigh = 0.05 ;
  #var AnyVar UserInputReacVolumeRadiusLimit = 0.1 ;
  #var AnyVar UserInputReacForceFrictionCoeff = 0.5;  
  #var AnyVar UserInputReacForceMaxStrength = 3000;
  #var AnyVar UserInputReacForceVisualScaleFactor = 1;  
  
  //-->Definitions of the single connection node(which position can be adjustable) and the applying force node inside the human segment
  UserInputRefHumanSeg = 
  {
    #if UserInputConnectionType != "None"
     AnyRefNode ITF_ConnectNode =
     {
       sRel = ..sRel_ConnectNodeInHumanSeg ;
       ARel = ..ARel_ConnectNodeInHumanSeg ;
       AnyDrawRefFrame drw = 
       {
         ScaleXYZ = 0.05*{1, 1, 1};
         RGB = {0, 1, 0};
       };
     };
    #endif
    #if UserInputApplyingForceOnOff == 1
     AnyRefNode ITF_ApplyingForceNode =
     {
       sRel = ..sRel_ApplyingForceNodeInHumanSeg ;
       ARel = ..ARel_ApplyingForceNodeInHumanSeg ;
     };
     Macro_DrawRedBall(ITF_ApplyingForceNode, DrwRedBall)
    #endif
  };
  //<--
  
  //-->Definitions of the human segment connection nodes(predefined anatomical nodes) according to different connection types and human segment types
  //-->Hand
  #if UserInputHumanSegType == "Hand"
   #if UserInputConnectionType == "BallJoint"
     AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
   #endif
   #if UserInputConnectionType == "RevoluteJoint"
     AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
   #endif
   #if UserInputConnectionType == "FixJoint"
     AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
   #endif   
   #if UserInputConnectionType == "2PointsOnLine"
     AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
     AnyRefFrame& HumanSegConnectNode2 = UserInputRefHumanSeg.PalmMedialContactNode;   
   #endif   
   #if UserInputConnectionType == "3PointsOnPlane"
     AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
     AnyRefFrame& HumanSegConnectNode2 = UserInputRefHumanSeg.PalmMedialContactNode;
     AnyRefFrame& HumanSegConnectNode3 = UserInputRefHumanSeg.WristContactNode;
   #endif
  #endif
  //<--Hand
  //-->Foot
  #if UserInputHumanSegType == "Foot"
   #if UserInputConnectionType == "BallJoint"
     //AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
   #endif
   #if UserInputConnectionType == "RevoluteJoint"
     //AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
   #endif
   #if UserInputConnectionType == "FixJoint"
     //AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
   #endif   
   #if UserInputConnectionType == "2PointsOnLine"
     //AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
     //AnyRefFrame& HumanSegConnectNode2 = UserInputRefHumanSeg.PalmMedialContactNode;   
   #endif   
   #if UserInputConnectionType == "3PointsOnPlane"
     //AnyRefFrame& HumanSegConnectNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
     //AnyRefFrame& HumanSegConnectNode2 = UserInputRefHumanSeg.PalmMedialContactNode;
     //AnyRefFrame& HumanSegConnectNode3 = UserInputRefHumanSeg.WristContactNode;
   #endif
  #endif
  //<--Foot
  //-->Pelvis
  #if UserInputHumanSegType == "Pelvis"
  
  #endif
  //<--Pelvis
  //<--
  
  //-->Definitions of the human segment contact nodes accroding to different human segment types  
  #if UserInputCalcReacOnOff == 1
   //-->Hand
   #if UserInputHumanSegType == "Hand"
    #if UserInputCalcReacNodesNumber == 1
      AnyRefFrame& HumanSegContactNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
    #endif
    #if UserInputCalcReacNodesNumber == 2
      AnyRefFrame& HumanSegContactNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
      AnyRefFrame& HumanSegContactNode2 = UserInputRefHumanSeg.PalmMedialContactNode;
    #endif   
    #if UserInputCalcReacNodesNumber == 3
      AnyRefFrame& HumanSegContactNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
      AnyRefFrame& HumanSegContactNode2 = UserInputRefHumanSeg.PalmMedialContactNode;
      AnyRefFrame& HumanSegContactNode3 = UserInputRefHumanSeg.WristContactNode;
    #endif
   #endif  
   //<--Hand
   //-->Foot
   #if UserInputHumanSegType == "Foot"
    #if UserInputCalcReacNodesNumber == 1
      //AnyRefFrame& HumanSegContactNode1 = UserInputRefHumanSeg.ITF_ConnectNode;
    #endif
    #if UserInputCalcReacNodesNumber == 2
      //AnyRefFrame& HumanSegContactNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
      //AnyRefFrame& HumanSegContactNode2 = UserInputRefHumanSeg.PalmMedialContactNode;
    #endif   
    #if UserInputCalcReacNodesNumber == 3
      //AnyRefFrame& HumanSegContactNode1 = UserInputRefHumanSeg.PalmLateralContactNode;
      //AnyRefFrame& HumanSegContactNode2 = UserInputRefHumanSeg.PalmMedialContactNode;
      //AnyRefFrame& HumanSegContactNode3 = UserInputRefHumanSeg.WristContactNode;
    #endif   
   #endif
   //<--Foot
  #endif
  //<--
  
  //-->Definitions of the conditional contact nodes according to the number of the contact nodes defined by users
  #if UserInputCalcReacOnOff == 1
   #if UserInputCalcReacNodesNumber >= 1   
    ConditionalContactClass Contact1(BaseObject = .UserInputTargetName, TargetObject = .HumanSegContactNode1,
    DisplayTriggerVolume = 1, DisplayTargetNode = 0) = 
    {
      UserDefinedLimitLow = .UserInputReacVolumeHeightLimitLow ;
      UserDefinedLimitHigh = .UserInputReacVolumeHeightLimitHigh ;
      UserDefinedRadiusLimit = .UserInputReacVolumeRadiusLimit ;
      Strength = .UserInputReacForceMaxStrength ;
      StaticFrictionCoefficient = .UserInputReacForceFrictionCoeff ;
      ScaleFactor = .UserInputReacForceVisualScaleFactor ;
      #if UserInputTargetNormalDir == "X"
        NormalDirection = 0;
        FrictionDirection1 = 1;
        FrictionDirection2 = 2;
      #endif
      #if UserInputTargetNormalDir == "Y"
        NormalDirection = 1;
        FrictionDirection1 = 2;
        FrictionDirection2 = 0;
      #endif    
      #if UserInputTargetNormalDir == "Z"
        NormalDirection = 2;
        FrictionDirection1 = 0;
        FrictionDirection2 = 1;
      #endif    
    };
    Macro_DrawBlueBall(HumanSegContactNode1, DrwBlueBall)
   #endif
   #if UserInputCalcReacNodesNumber >= 2
    ConditionalContactClass Contact2(BaseObject = .UserInputTargetName, TargetObject = .HumanSegContactNode2,
    DisplayTriggerVolume = 0, DisplayTargetNode = 0) = 
    {
      UserDefinedLimitLow = .UserInputReacVolumeHeightLimitLow ;
      UserDefinedLimitHigh = .UserInputReacVolumeHeightLimitHigh ;
      UserDefinedRadiusLimit = .UserInputReacVolumeRadiusLimit ;
      Strength = .UserInputReacForceMaxStrength ;
      StaticFrictionCoefficient = .UserInputReacForceFrictionCoeff ;
      ScaleFactor = .UserInputReacForceVisualScaleFactor ;
      #if UserInputTargetNormalDir == "X"
        NormalDirection = 0;
        FrictionDirection1 = 1;
        FrictionDirection2 = 2;
      #endif
      #if UserInputTargetNormalDir == "Y"
        NormalDirection = 1;
        FrictionDirection1 = 2;
        FrictionDirection2 = 0;
      #endif    
      #if UserInputTargetNormalDir == "Z"
        NormalDirection = 2;
        FrictionDirection1 = 0;
        FrictionDirection2 = 1;
      #endif    
    };
    Macro_DrawBlueBall(HumanSegContactNode2, DrwBlueBall)
   #endif
   #if UserInputCalcReacNodesNumber >= 3
    ConditionalContactClass Contact3(BaseObject = .UserInputTargetName, TargetObject = .HumanSegContactNode3,
    DisplayTriggerVolume = 0, DisplayTargetNode = 0) = 
    {
      UserDefinedLimitLow = .UserInputReacVolumeHeightLimitLow ;
      UserDefinedLimitHigh = .UserInputReacVolumeHeightLimitHigh ;
      UserDefinedRadiusLimit = .UserInputReacVolumeRadiusLimit ;
      Strength = .UserInputReacForceMaxStrength ;
      StaticFrictionCoefficient = .UserInputReacForceFrictionCoeff ;
      ScaleFactor = .UserInputReacForceVisualScaleFactor ;
      #if UserInputTargetNormalDir == "X"
        NormalDirection = 0;
        FrictionDirection1 = 1;
        FrictionDirection2 = 2;
      #endif
      #if UserInputTargetNormalDir == "Y"
        NormalDirection = 1;
        FrictionDirection1 = 2;
        FrictionDirection2 = 0;
      #endif    
      #if UserInputTargetNormalDir == "Z"
        NormalDirection = 2;
        FrictionDirection1 = 0;
        FrictionDirection2 = 1;
      #endif    
    };
    Macro_DrawBlueBall(HumanSegContactNode3, DrwBlueBall)
   #endif
  #endif
  //<--
  
  //-->Definition of the external applied force on the force node defined in the human segment
  #if UserInputApplyingForceOnOff == 1
   AnyForce3D AppliedForce = 
   {
     AnyRefFrame& ref = .UserInputRefHumanSeg.ITF_ApplyingForceNode;
     #if UserInputUseGlobalApplyingForceOnOff == 1
       F = .UserInputApplyingForce ;
     #else
       Flocal = .ApplyingForce;
     #endif
     
     AnyDrawForce drw = 
     {
       ShowTotalForces = On;
       //ShowComponentForces = On;
       ForceScale = ..DrawRef.DrawSettingsSupport.Lin.ScaleFactor;
       AppliedForceColor = {1, 0, 0};
       ScaleToView = Off;
     };
   };
   AnyMoment3D AppliedMoment = 
   {
     AnyRefFrame& ref = .UserInputRefHumanSeg.ITF_ApplyingForceNode;
     #if UserInputUseGlobalApplyingForceOnOff == 1      
       M = .UserInputApplyingMoment ;
     #else
       Mlocal = .UserInputApplyingMoment ;
     #endif
   };    
  #endif
  //<--
  
  //-->Definition of the kinematic constrains according the different kinemtic interface types defined by users
  #if UserInputConnectionType == "BallJoint"
   AnyKinEq KinEqs = 
   {
     AnyKinLinear lin = 
     {
       AnyRefFrame& ref0 = ..UserInputTargetName ;
       AnyRefFrame& ref1 = ..HumanSegConnectNode1;
       Ref = 0;
       Macro_DrawGreenBall(ref1, DrwGreenBall)
     };    
     Reaction.Type = {Off, Off, Off};
   };  
  #endif
  
  #if UserInputConnectionType == "RevoluteJoint"
   AnyRevoluteJoint KinEqs = 
   {
     AnyRefFrame& ref0 = .UserInputTargetName ;
     AnyRefFrame& ref1 = .HumanSegConnectNode1;
     #if UserInputTargetNormalDir == "X"
       Axis = x;
     #endif
     #if UserInputTargetNormalDir == "Y"
       Axis = y;
     #endif  
     #if UserInputTargetNormalDir == "Z"
       Axis = z;
     #endif
     Constraints.Reaction.Type = {Off, Off, Off, Off, Off};
     Macro_DrawGreenBall(ref1, DrwGreenBall)
   };
  #endif
  
  #if UserInputConnectionType == "FixJoint"
   AnyStdJoint KinEqs = 
   {
     AnyRefFrame& ref0 = .UserInputTargetName ;
     AnyRefFrame& ref1 = .HumanSegConnectNode1;
     #if UserInputCalcReacOnOff == 1
       Constraints.Reaction.Type = {On, On, On, On, On, On};
     #else
       Constraints.Reaction.Type = {Off, Off, Off, Off, Off, Off};
     #endif
     Macro_DrawGreenBall(ref1, DrwGreenBall)
   };
  #endif  
  
  #if UserInputConnectionType == "2PointsOnLine"
   AnyKinEq KinEqs = 
   {
     AnyKinLinear lin1 = 
     {
       AnyRefFrame& ref0 = ..UserInputTargetName ;
       AnyRefFrame& ref1 = ..HumanSegConnectNode1 ;
       Ref = 0;
       Macro_DrawGreenBall(ref1, DrwGreenBall)
     };
     AnyKinLinear lin2 = 
     {
       AnyRefFrame& ref0 = ..UserInputTargetName ;
       AnyRefFrame& ref1 = ..HumanSegConnectNode2 ;
       Ref = 0;
       Macro_DrawGreenBall(ref1, DrwGreenBall)
     };
     #if UserInputTargetNormalDir == "X"
       MeasureOrganizer = {0, 3};
     #endif
     #if UserInputTargetNormalDir == "Y"
       MeasureOrganizer = {1, 4};
     #endif  
     #if UserInputTargetNormalDir == "Z"
       MeasureOrganizer = {2, 5};
     #endif    
     Reaction.Type = {Off, Off};
   };
  #endif    
  
  #if UserInputConnectionType == "3PointsOnPlane"
   AnyKinEq KinEqs = 
   {
     AnyKinLinear lin1 = 
     {
       AnyRefFrame& ref0 = ..UserInputTargetName ;
       AnyRefFrame& ref1 = ..HumanSegConnectNode1 ;
       Ref = 0;
       Macro_DrawGreenBall(ref1, DrwGreenBall)       
     };
     AnyKinLinear lin2 = 
     {
       AnyRefFrame& ref0 = ..UserInputTargetName ;
       AnyRefFrame& ref1 = ..HumanSegConnectNode2 ;
       Ref = 0;
       Macro_DrawGreenBall(ref1, DrwGreenBall)       
     };
     AnyKinLinear lin3 = 
     {
       AnyRefFrame& ref0 = ..UserInputTargetName ;
       AnyRefFrame& ref1 = ..HumanSegConnectNode3 ;
       Ref = 0;
       Macro_DrawGreenBall(ref1, DrwGreenBall)       
     };
     #if UserInputTargetNormalDir == "X"
       MeasureOrganizer = {0, 3, 6};
     #endif
     #if UserInputTargetNormalDir == "Y"
       MeasureOrganizer = {1, 4, 7};
     #endif  
     #if UserInputTargetNormalDir == "Z"
       MeasureOrganizer = {2, 5, 8};
     #endif    
     Reaction.Type = {Off, Off, Off};
   };
  #endif
  //<--
  
  
  //  //-->Summary for input variables
  //  #if UserInputCalcReacOnOff == 1
  //    AnyMessage Reac_Friction_Coeff = 
  //    {
  //      TriggerConst = On ;
  //      Type = MSG_Message ;
  //      Message = strformat("Friction coefficient for reaction force = ") + strval(.UserInputReacForceFrictionCoeff, "%10.3E");
  //    };
  //  #endif
  //  #if UserInputApplyingForceOnOff == 1
  //    AnyMessage Applying_Force_Vector = 
  //    {
  //      TriggerConst = On ;
  //      Type = MSG_Message ;
  //      Message = strformat("Applying force vector = (") 
  //              + strval(.ApplyingForce[0], "%10.3E") 
  //              + strformat(", ")
  //              + strval(.ApplyingForce[1], "%10.3E")
  //              + strformat(", ")
  //              + strval(.ApplyingForce[2], "%10.3E")
  //              + strformat(") ");
  //              
  //    };
  //    AnyMessage Applying_Moment_Vector = 
  //    {
  //      TriggerConst = On ;
  //      Type = MSG_Message ;
  //      Message = strformat("Applying moment vector = (") 
  //              + strval(.ApplyingMoment[0], "%10.3E") 
  //              + strformat(", ")
  //              + strval(.ApplyingMoment[1], "%10.3E")
  //              + strformat(", ")
  //              + strval(.ApplyingMoment[2], "%10.3E")
  //              + strformat(") ");
  //              
  //    };     
  //  #endif
  //  //<--Summary for input variables
  
};