82 lines (67 with data), 1.7 kB

AnyFolder Joints = 
{
  
};

AnyFolder Drivers = 
{
  AnyFolder &JntPos= Main.HumanModel.Mannequin.Posture;  
  AnyFolder &JntVel= Main.HumanModel.Mannequin.PostureVel;
  
  AnyFolder CoM_Control_Def = 
  {
    AnyKinCoM CoM_Measure = 
    {
      AnyFolder &Body = Main.Model.BodyModel; 
    };    
        
    AnyKinEqSimpleDriver CoM_Z_Driver = 
    {
      AnyKinMeasure& ref = .CoM_Measure;
      MeasureOrganizer = {2}; 
      DriverPos = {0};
      DriverVel = {0};
      Reaction.Type = {Off};
    };    
     
    AnySeg CoM_DummySeg =
    {
      Mass=0;
      Jii={0,0,0};
      r0 = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0;
      AnyDrawNode drw=
      { 
        ScaleXYZ={1,1,1}*0.05; 
        RGB={0,1,1};
        Opacity = 0.5;
      };
    };
    
    AnyKinLinear CoM_DummySeg_Lin =
    {
      AnySeg &ref =.CoM_DummySeg ;
    };
    
    AnyKinEq CoM_DummySeg_Driver =
    {
      AnyKinMeasureLinComb lincomb=
      {
        AnyKinMeasure& ref1 = ..CoM_DummySeg_Lin ;
        AnyKinMeasure& ref2 = ..CoM_Measure ;
        Coef={{1,0,0,-1,0,0},{0,1,0,0,-1,0},{0,0,1,0,0,-1}};
        OutDim = 3;
      };
      AnyKinRotational rot =
      {
        AnySeg &ref = ..CoM_DummySeg;
        Type=RotAxesAngles;
      };
    };
  };
  
  #include "TrunkDrivers.any"
  
  #if BM_ARM_RIGHT == ON
  #include "RightArmDrivers.any"
  #endif
  
  #if BM_ARM_LEFT == ON
  #include "LeftArmDrivers.any"
  #endif
  
  #if BM_LEG_RIGHT == ON
  #include "RightLegTLEMDrivers.any"
  #endif
  
  #if BM_LEG_LEFT == ON
  #include "LeftLegTLEMDrivers.any"
  #endif
};