124 lines (102 with data), 5.2 kB

//This folders creates realistic support forces for a foot standing on a surface which has the y axis 
//pointing away from the surface
//This file will typicaly be included directly from the Application joint and drivers file
//It needs the following input to work
//
//SideFolder : Reference to the rigth or left leg
//StartNode : This is the node on the body from where the force will act
//Strength  : Strenght of muscles acting in the y direction 
//FrictionStrength  : FrictionStrenght of muscles acting in the x and z direction
//DrawRef : Reference to drawsettings

AnyFolder FootSupportOneSurface={
  
  //Create a surface which controls the foot
  //the segment will be carried by global ref and support the foot using artifcial muscles.
  
  AnySeg Surface ={
    Mass=0;
    Jii={0,0,0};
    r0= ..SideFolder.Leg.Seg.Foot.r0;
    AnyRefNode HeelNode={sRel={0,0,0};};
    
    //Create a surface under the foot
    AnyRefNode SurfaceNode ={
      sRel={Size[0]*0.5-0.05,-Size[1],0};
      AnyVec3  Color= Main.DrawSettings.Colors.AnyBodyBlue; //box color
      AnyVar   Opacity=1; //box transparency
      AnyVec3 Size={0.3,0.01,0.1};
      //AnyDrawRefFrame drw ={};
      #include"<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box
    };
  };
  
  AnyReacForce SurfaceSupport ={
    AnyKinLinear Lin = {
      AnyRefNode &ref1 = ...StartNode;
      AnySeg &ref2 = ..Surface;
    };
    AnyKinRotational Rot = {
      AnyRefNode &ref1 = ...StartNode;
      AnySeg &ref2 = ..Surface;
      Type=RotVector;
    };  
    
    
  };
  
  
  AnyKinEqSimpleDriver SurfaceDrivers = {
    //This is the joint which connects the Pelvis segment to the bike.
    AnyKinLinear Lin ={
      Ref=0; 
      AnyRefNode &Ball = ...SideFolder.Leg.Seg.Foot.HeelJoint;
      AnySeg &Ref2  = ..Surface;     
    };
    AnyKinRotational Rot ={
      Ref=0; 
      AnyRefNode &Ball = ...SideFolder.Leg.Seg.Foot.HeelJoint;
      AnySeg &Ref2  = ..Surface;     
      Type=RotVector;
    };
    DriverPos = {-0.02,0,0,0,0,-0.5*pi};
    DriverVel = {0,0,0,0,0,0};
    Reaction.Type = {0,0,0,0,0,0}; 
  };
  
  
  
  
  AnyFolder ToeMedialSupport = {
        AnySeg &StartNode = .Surface;
        AnyRefNode &EndNode = ..SideFolder.Leg.Seg.Foot.ToeMedialContactNode;
    //The terms push and pull are determined wrt. the coordinate system of the StartNode!
    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}
    AnyVector StrengthOfReactionsLin =  {..FrictionStrength,..FrictionStrength,..Strength,..FrictionStrength,..FrictionStrength,..FrictionStrength}; //List of strengths for the linear muscles
    AnyFolder &DrawRef=Main.DrawSettings;
    AnyVar ScaleFactor =0.5;
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"
    //  #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 
  };
  
  
  AnyFolder ToeLateralSupport= {
    AnySeg &StartNode = .Surface;
    AnyRefNode &EndNode = ..SideFolder.Leg.Seg.Foot.ToeLateralContactNode;
    //The terms push and pull are determined wrt. the coordinate system of the StartNode!
    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}
    AnyVector StrengthOfReactionsLin =  {..FrictionStrength,..FrictionStrength,..Strength,..FrictionStrength,..FrictionStrength,..FrictionStrength}; //List of strengths for the linear muscles    AnyFolder &DrawRef=Main.DrawSettings;
    AnyFolder &DrawRef=Main.DrawSettings;
    AnyVar ScaleFactor =0.5;
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"
    //  #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 
    
  };
  
  
  AnyFolder HeelSupport = {
    AnySeg &StartNode = .Surface;
    AnyRefNode &EndNode = ..SideFolder.Leg.Seg.Foot.HeelContactNode;
    
    //The terms push and pull are determined wrt. the coordinate system of the StartNode!
    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}
    AnyVector StrengthOfReactionsLin =  {..FrictionStrength,..FrictionStrength,..Strength,..FrictionStrength,..FrictionStrength,..FrictionStrength}; //List of strengths for the linear muscles    AnyFolder &DrawRef=Main.DrawSettings;
    AnyVar ScaleFactor =0.5;
    AnyFolder &DrawRef=Main.DrawSettings;
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"
    //#include"<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 
    #include"<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 
  };
  
  
};