227 lines (187 with data), 9.0 kB

//-------------------------------------------------------
// Initial positions ShoulderArm
//-------------------------------------------------------


//   Right.ShoulderArm.Seg.Humerus.Axes0 = {{-0.058875, 0.459044, -0.886460}, {0.198252, 0.875690, 0.440300}, {0.978381, -0.149819, -0.142563}};
//   Right.ShoulderArm.Seg.Radius.Axes0 = {{-0.985956, -0.114060, -0.121985}, {0.145834, -0.232098, -0.961698}, {0.081379, -0.965982, 0.245472}};
//   Right.ShoulderArm.Seg.Ulna.Axes0 = {{0.030984, 0.992048, -0.121985}, {-0.250888, -0.110417, -0.961698}, {-0.967520, 0.060402, 0.245472}};
//   Right.ShoulderArm.Seg.Hand.Axes0 = {{-0.985956, -0.114060, -0.121985}, {0.145834, -0.232098, -0.961698}, {0.081379, -0.965982, 0.245472}};
//   Left.ShoulderArm.Seg.Humerus.Axes0 = {{0.058875, 0.459044, -0.886460}, {-0.198252, 0.875690, 0.440300}, {0.978381, 0.149819, 0.142563}};
//   Left.ShoulderArm.Seg.Radius.Axes0 = {{-0.985956, 0.114060, -0.121985}, {0.145834, 0.232098, -0.961698}, {-0.081379, -0.965982, -0.245472}};
//   Left.ShoulderArm.Seg.Ulna.Axes0 = {{0.030984, -0.992048, -0.121985}, {-0.250888, 0.110417, -0.961698}, {0.967520, 0.060402, -0.245472}};
//   Left.ShoulderArm.Seg.Hand.Axes0 = {{-0.985956, -0.114060, 0.121985}, {0.145834, -0.232098, 0.961698}, {-0.081379, 0.965982, 0.245472}};
  
   
   //This file repicates the kinematics of the model at load time
//The file will set the Axes0 values for the segments the calculations is based
//on the joint driver values in the mannequin file. 

AnyFolder &ref=Main.Model.HumanModel;
AnyFolder &JointPos=Main.Model.Mannequin.Posture;

ref.Trunk.SegmentsLumbar.PelvisSeg.r0 = 
{JointPos.PelvisPosX,JointPos.PelvisPosY,JointPos.PelvisPosZ};

ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0=
RotMat((pi/180)*JointPos.PelvisRotZ ,z)* 
RotMat((pi/180)*JointPos.PelvisRotY ,y)*
RotMat((pi/180)*JointPos.PelvisRotX ,x);



//Thorax
ref.Trunk.SegmentsThorax.ThoraxSeg.Axes0=
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*
RotMat((pi/180)*JointPos.PelvisThoraxExtension ,z)* 
RotMat((pi/180)*JointPos.PelvisThoraxRotation ,y)*
RotMat((pi/180)*JointPos.PelvisThoraxLateralBending ,x);

//This is a rough approximation
//L1Seg 
ref.Trunk.SegmentsLumbar.L1Seg.Axes0=
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*
RotMat(5/6*(pi/180)*JointPos.PelvisThoraxExtension ,z)* 
RotMat(5/6*(pi/180)*JointPos.PelvisThoraxRotation ,y)*
RotMat(5/6*(pi/180)*JointPos.PelvisThoraxLateralBending ,x);
//L2Seg
ref.Trunk.SegmentsLumbar.L2Seg.Axes0=
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*
RotMat(4/6*(pi/180)*JointPos.PelvisThoraxExtension ,z)* 
RotMat(4/6*(pi/180)*JointPos.PelvisThoraxRotation ,y)*
RotMat(4/6*(pi/180)*JointPos.PelvisThoraxLateralBending ,x);
//L3Seg
ref.Trunk.SegmentsLumbar.L3Seg.Axes0=
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*
RotMat(3/6*(pi/180)*JointPos.PelvisThoraxExtension ,z)* 
RotMat(3/6*(pi/180)*JointPos.PelvisThoraxRotation ,y)*
RotMat(3/6*(pi/180)*JointPos.PelvisThoraxLateralBending ,x);
//L4Seg
ref.Trunk.SegmentsLumbar.L4Seg.Axes0=
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*
RotMat(2/6*(pi/180)*JointPos.PelvisThoraxExtension ,z)* 
RotMat(2/6*(pi/180)*JointPos.PelvisThoraxRotation ,y)*
RotMat(2/6*(pi/180)*JointPos.PelvisThoraxLateralBending ,x);
//L5Seg
ref.Trunk.SegmentsLumbar.L5Seg.Axes0=
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*
RotMat(1/6*(pi/180)*JointPos.PelvisThoraxExtension ,z)* 
RotMat(1/6*(pi/180)*JointPos.PelvisThoraxRotation ,y)*
RotMat(1/6*(pi/180)*JointPos.PelvisThoraxLateralBending ,x);
//SkullSeg

ref.Trunk.SegmentsThorax.SkullSeg.Axes0=
ref.Trunk.SegmentsThorax.ThoraxSeg.Axes0*
ref.Trunk.SegmentsThorax.T1Seg.T1C7JntNode.ARel*
RotMat((pi/180)*JointPos.NeckExtension,z)* 
ref.Trunk.SegmentsThorax.SkullSeg.NeckNode.ARel';





//Right leg
ref.Right.Leg.Seg.Thigh.Axes0 =
ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*ref.Trunk.SegmentsLumbar.PelvisSeg.HipJointRight.RotNode.ARel*
RotMat((pi/180)*JointPos.Right.HipFlexion,z)*
RotMat((pi/180)*JointPos.Right.HipExternalRotation,y)*
RotMat((pi/180)*JointPos.Right.HipAbduction,x)* 
ref.Right.Leg.Seg.Thigh.HipJoint.RotNode.ARel';


//shank
ref.Right.Leg.Seg.Shank.Axes0 = 
ref.Right.Leg.Seg.Thigh.Axes0*
ref.Right.Leg.Seg.Thigh.KneeJoint.ARel*
ref.Right.Leg.Seg.Thigh.KneeJoint.RotNode.ARel*
RotMat((-pi/180)*JointPos.Right.KneeFlexion,z)*
//RotMat(pi,y)*
ref.Right.Leg.Seg.Shank.KneeJoint.RotNode.ARel'*
ref.Right.Leg.Seg.Shank.KneeJoint.ARel';

//Foot
ref.Right.Leg.Seg.Foot.Axes0 = 
ref.Right.Leg.Seg.Shank.Axes0*
ref.Right.Leg.Seg.Shank.AnkleJoint.ARel*
ref.Right.Leg.Seg.Shank.AnkleJoint.RotNode.ARel*
RotMat((pi/180)*JointPos.Right.AnklePlantarFlexion ,z)*
RotMat((pi/180)*JointPos.Right.AnkleEversion ,y)*
ref.Right.Leg.Seg.Foot.AnkleJoint.RotNode.ARel'*
ref.Right.Leg.Seg.Foot.AnkleJoint.ARel';

//right humerus
ref.Right.ShoulderArm.Seg.Humerus.Axes0 =
ref.Trunk.SegmentsThorax.ThoraxSeg.Axes0*
ref.Trunk.SegmentsThorax.ThoraxSeg.ij.ARel*
ref.Trunk.SegmentsThorax.ThoraxSeg.ij.RotNode.ARel*
RotMat((pi/180)*JointPos.Right.GlenohumeralFlexion ,z)*
RotMat((pi/180)*JointPos.Right.GlenohumeralExternalRotation ,y)*
RotMat((pi/180)*JointPos.Right.GlenohumeralAbduction ,x)* 
ref.Right.ShoulderArm.Seg.Humerus.gh.RotNode.ARel'*
ref.Right.ShoulderArm.Seg.Humerus.gh.ARel';

//right ulna
ref.Right.ShoulderArm.Seg.Ulna.Axes0 = 
ref.Right.ShoulderArm.Seg.Humerus.Axes0*
ref.Right.ShoulderArm.Seg.Humerus.fe.ARel*
ref.Right.ShoulderArm.Seg.Humerus.fe.RotNode.ARel*
RotMat((pi/180)*JointPos.Right.ElbowFlexion,x)*
ref.Right.ShoulderArm.Seg.Ulna.fe.RotNode.ARel';


//right Radius
ref.Right.ShoulderArm.Seg.Radius.Axes0 = 
ref.Right.ShoulderArm.Seg.Ulna.Axes0*
ref.Right.ShoulderArm.Seg.Ulna.ps2.ARel*
ref.Right.ShoulderArm.Seg.Ulna.ps2.RotNode.ARel*
//RotMat(-pi/2,z)*
RotMat(0.0,y)*
RotMat((pi/180)*JointPos.Right.ElbowPronation ,x)*
ref.Right.ShoulderArm.Seg.Radius.PointPS2.ARel'*
ref.Right.ShoulderArm.Seg.Radius.PointPS2.RotNode.ARel';


//right hand
ref.Right.ShoulderArm.Seg.Hand.Axes0 =
ref.Right.ShoulderArm.Seg.Radius.Axes0*
ref.Right.ShoulderArm.Seg.Radius.wj.ARel*
ref.Right.ShoulderArm.Seg.Radius.wj.RotNode.ARel*
//RotMat(0.0,y)*
RotMat((pi/180)*JointPos.Right.WristFlexion,y)*
RotMat((pi/180)*JointPos.Right.WristAbduction,z)*
ref.Right.ShoulderArm.Seg.Hand.wj.RotNode.ARel'*
ref.Right.ShoulderArm.Seg.Hand.wj.ARel';



//Left hip
ref.Left.Leg.Seg.Thigh.Axes0 =ref.Trunk.SegmentsLumbar.PelvisSeg.Axes0*ref.Trunk.SegmentsLumbar.PelvisSeg.HipJointLeft.RotNode.ARel*
RotMat((pi/180)*JointPos.Left.HipFlexion,z)*
RotMat((pi/180)*JointPos.Left.HipExternalRotation,y)*
RotMat((pi/180)*JointPos.Left.HipAbduction,x)* 
ref.Left.Leg.Seg.Thigh.HipJoint.RotNode.ARel';

//left shank
ref.Left.Leg.Seg.Shank.Axes0 = 
ref.Left.Leg.Seg.Thigh.Axes0*
ref.Left.Leg.Seg.Thigh.KneeJoint.ARel*
ref.Left.Leg.Seg.Thigh.KneeJoint.RotNode.ARel*
RotMat((-pi/180)*JointPos.Left.KneeFlexion,z)*
//RotMat(pi,y)*
ref.Left.Leg.Seg.Shank.KneeJoint.RotNode.ARel'*
ref.Left.Leg.Seg.Shank.KneeJoint.ARel';

//left foot
ref.Left.Leg.Seg.Foot.Axes0 = 
ref.Left.Leg.Seg.Shank.Axes0*
ref.Left.Leg.Seg.Shank.AnkleJoint.ARel*
ref.Left.Leg.Seg.Shank.AnkleJoint.RotNode.ARel*
RotMat((pi/180)*JointPos.Left.AnklePlantarFlexion ,z)*
RotMat((pi/180)*JointPos.Left.AnkleEversion,y)*
ref.Left.Leg.Seg.Foot.AnkleJoint.RotNode.ARel'*
ref.Left.Leg.Seg.Foot.AnkleJoint.ARel';

//left humerus
ref.Left.ShoulderArm.Seg.Humerus.Axes0 =
ref.Trunk.SegmentsThorax.ThoraxSeg.Axes0*
ref.Trunk.SegmentsThorax.ThoraxSeg.iji.ARel*
ref.Trunk.SegmentsThorax.ThoraxSeg.iji.RotNode.ARel*
RotMat((pi/180)*JointPos.Left.GlenohumeralExternalRotation ,y)*
RotMat((pi/180)*JointPos.Left.GlenohumeralFlexion ,z)*
RotMat((pi/180)*JointPos.Left.GlenohumeralAbduction ,x)*
ref.Left.ShoulderArm.Seg.Humerus.gh.RotNode.ARel'*
ref.Left.ShoulderArm.Seg.Humerus.gh.ARel';



//left ulna
ref.Left.ShoulderArm.Seg.Ulna.Axes0 = ref.Left.ShoulderArm.Seg.Humerus.Axes0*
ref.Left.ShoulderArm.Seg.Humerus.fe.ARel*
ref.Left.ShoulderArm.Seg.Humerus.fe.RotNode.ARel*
RotMat((pi/180)*JointPos.Left.ElbowFlexion,x)*
ref.Left.ShoulderArm.Seg.Ulna.fe.RotNode.ARel';

//left Radius
ref.Left.ShoulderArm.Seg.Radius.Axes0 = 
ref.Left.ShoulderArm.Seg.Ulna.Axes0*
ref.Left.ShoulderArm.Seg.Ulna.ps2.ARel*
ref.Left.ShoulderArm.Seg.Ulna.ps2.RotNode.ARel*
//RotMat(-pi,z)*
RotMat(0.0,y)*
RotMat((pi/180)*JointPos.Left.ElbowPronation ,x)*
ref.Left.ShoulderArm.Seg.Radius.PointPS2.ARel'*
ref.Left.ShoulderArm.Seg.Radius.PointPS2.RotNode.ARel';


//Left hand
ref.Left.ShoulderArm.Seg.Hand.Axes0 = 
ref.Left.ShoulderArm.Seg.Radius.Axes0*
ref.Left.ShoulderArm.Seg.Radius.wj.ARel*
ref.Left.ShoulderArm.Seg.Radius.wj.RotNode.ARel*
//RotMat(0.0,y)*
RotMat((pi/180)*JointPos.Left.WristFlexion,y)*
RotMat((pi/180)*JointPos.Left.WristAbduction,z)*
ref.Left.ShoulderArm.Seg.Hand.wj.RotNode.ARel*
ref.Left.ShoulderArm.Seg.Hand.wj.ARel';