155 lines (134 with data), 4.9 kB

// ************************************
// Drivers for the Left fingers
// ************************************
AnyFolder Left ={

//finger1
AnyKinEqInterPolDriver CMC1Flexion={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger1.Jnt.CMCFlexion;
  Data= {..JntPos.Left.Finger1.CMCFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger1.FingerTime;
  Type=Bspline;
};

AnyKinEqInterPolDriver CMC1Abduction={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger1.Jnt.CMCAbduction;
  Data={..JntPos.Left.Finger1.CMCDeviationVec}*pi/180;  
  T=..JntPos.Left.Finger1.FingerTime;
  Type=Bspline;
};



AnyKinEqInterPolDriver  MCP1Flexion={
  AnyRevoluteJoint &ref= ..RefHM.Left.ShoulderArm.Seg.Hand.Finger1.Jnt.MCPFlexion;
  Data={..JntPos.Left.Finger1.MCPFlexionVec}*pi/180;
  T=..JntPos.Left.Finger1.FingerTime;
  Reaction.Type={Off};
  Type=Bspline;
};

AnyKinEqInterPolDriver  MCP1Abduction={
  AnyRevoluteJoint &ref= ..RefHM.Left.ShoulderArm.Seg.Hand.Finger1.Jnt.MCPAbduction;
  Data={..JntPos.Left.Finger1.MCPDeviationVec}*pi/180;
  T=..JntPos.Left.Finger1.FingerTime;
  Reaction.Type={Off};
  Type=Bspline;
};

AnyKinEqInterPolDriver  DIP1={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger1.Jnt.DIP;
  Data={..JntPos.Left.Finger1.DIPFlexionVec}*pi/180;  
   T=..JntPos.Left.Finger1.FingerTime; 
  Type=Bspline;
};


// finger2
//    AnyKinEqInterPolDriver  CMC2={
//      AnyUniversalJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.CMC;
//      Data={0,0};  
//      DriverVel={0,0};
//    };
AnyKinEqInterPolDriver  MCP2={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.MCP;
  Data={..JntPos.Left.Finger2.MCPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger2.FingerTime;
  Type=Bspline;
};  
AnyKinEqInterPolDriver  PIP2={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.PIP;
  Data={..JntPos.Left.Finger2.PIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger2.FingerTime;
  Type=Bspline;
};
AnyKinEqInterPolDriver  DIP2={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger2.Jnt.DIP;
  Data={..JntPos.Left.Finger2.DIPFlexionVec};  
  T=..JntPos.Left.Finger2.FingerTime;
  Type=Bspline;
};



// finger3
//    AnyKinEqInterPolDriver  CMC3={
//      AnyUniversalJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.CMC;
//      Data={0,0};  
//      DriverVel={0,0};
//    };
AnyKinEqInterPolDriver  MCP3={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.MCP;
  Data={..JntPos.Left.Finger3.MCPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger3.FingerTime;
  Type=Bspline;
};  
AnyKinEqInterPolDriver  PIP3={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.PIP;
  Data={..JntPos.Left.Finger3.PIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger3.FingerTime;
  Type=Bspline;
};
AnyKinEqInterPolDriver  DIP3={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger3.Jnt.DIP;
  Data={..JntPos.Left.Finger3.DIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger3.FingerTime;
  Type=Bspline;
};


//finger4
//    AnyKinEqInterPolDriver  CMC4={
//      AnyUniversalJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.CMC;
//      Data={0,0}*pi/180;  
//      DriverVel={0,0};
//    };
AnyKinEqInterPolDriver  MCP4={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.MCP;
  Data={..JntPos.Left.Finger4.MCPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger4.FingerTime;
  Type=Bspline;
};  
AnyKinEqInterPolDriver  PIP4={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.PIP;
  Data={..JntPos.Left.Finger4.PIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger4.FingerTime;
  Type=Bspline;
};
AnyKinEqInterPolDriver  DIP4={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger4.Jnt.DIP;
  Data={..JntPos.Left.Finger4.DIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger4.FingerTime;
  Type=Bspline;
};


// finger5
//    AnyKinEqInterPolDriver  CMC5={
//      AnyUniversalJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.CMC;
//      Data={0,0};  
//      DriverVel={0,0};
//    };
AnyKinEqInterPolDriver  MCP5={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.MCP;
  Data={..JntPos.Left.Finger5.MCPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger5.FingerTime;
  Type=Bspline;
};  
AnyKinEqInterPolDriver  PIP5={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.PIP;
  Data={..JntPos.Left.Finger5.PIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger5.FingerTime;
  Type=Bspline;
};
AnyKinEqInterPolDriver  DIP5={
  AnyRevoluteJoint &ref=  ..RefHM.Left.ShoulderArm.Seg.Hand.Finger5.Jnt.DIP;
  Data={..JntPos.Left.Finger5.DIPFlexionVec}*pi/180;  
  T=..JntPos.Left.Finger5.FingerTime;
  Type=Bspline;
};



};