--- a
+++ b/Tools/ModelUtilities/HumanEnvironmentInteraction/ClassDefineHumanEnvironmentConnection.any
@@ -0,0 +1,429 @@
+#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
+
+};
+
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