70 lines (60 with data), 2.2 kB

  // ************************************
  // Drivers for attaching the pelvis to the global reference system
  // ************************************  
  
  AnyKinEqSimpleDriver PelvisGroundDriver ={
    AnyKinLinear lin ={
      AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
      AnySeg &ref2 =...HumanModel.Trunk.SegmentsLumbar.PelvisSeg;
    };
    AnyKinRotational rot ={
      AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
      AnySeg &ref2 =...HumanModel.Trunk.SegmentsLumbar.PelvisSeg;
      Type=RotAxesAngles;
    };
    DriverPos={
      .JntPos.PelvisPosX,
      .JntPos.PelvisPosY,
      .JntPos.PelvisPosZ,
      pi/180*.JntPos.PelvisRotZ,
      pi/180*.JntPos.PelvisRotY,
      pi/180*.JntPos.PelvisRotX
    };
    DriverVel={
      .JntVel.PelvisPosX,
      .JntVel.PelvisPosY,
      .JntVel.PelvisPosZ,
      pi/180*.JntVel.PelvisRotX,
      pi/180*.JntVel.PelvisRotY,
      pi/180*.JntVel.PelvisRotZ
    };
    Reaction.Type={On,On,On,On,On,On};
  };


  // ************************************
  // Drivers for the spine
  // ************************************
  
  //Neck driver 
  AnyKinEqSimpleDriver CervicalDriver ={
    AnyKinMeasure& Ref1 = .RefHM.Interface.Trunk.SkullThoraxFlexion;  
    AnyKinMeasure& Ref2 = .RefHM.Interface.Trunk.SkullThoraxLateralBending;
    AnyKinMeasure& Ref3 = .RefHM.Interface.Trunk.SkullThoraxRotation;
    DriverPos = pi/180*{0, 0, 0};
    DriverVel = pi/180*{0, 0, 0};
    Reaction.Type = {Off, Off, Off};  
  };
  
  //Thorax pelvis rotation driver
  AnyKinEqSimpleDriver PostureDriver ={
    AnyKinMeasure& Ref2 = ..HumanModel.Interface.Trunk.PelvisThoraxLateralBending;        
    AnyKinMeasure& Ref3 = ..HumanModel.Interface.Trunk.PelvisThoraxRotation;   
    AnyKinMeasure& Ref1 = ..HumanModel.Interface.Trunk.PelvisThoraxExtension;
   
    DriverPos = pi/180*{
          .JntPos.PelvisThoraxLateralBending,
      .JntPos.PelvisThoraxRotation,
      .JntPos.PelvisThoraxExtension
    };
    DriverVel = pi/180*{
      .JntVel.PelvisThoraxLateralBending,
      .JntVel.PelvisThoraxRotation,
      .JntVel.PelvisThoraxExtension
    };
    Reaction.Type = {Off,Off,Off};  
  };