427 lines (373 with data), 19.0 kB
#path ANYBODY_PATH_OUTPUT "."
#include "../../../libdef.any"
#define BM_ARM_LEFT OFF
#define BM_ARM_RIGHT OFF
#define BM_TRUNK_MUSCLES OFF
#define BM_LEG_MODEL _LEG_MODEL_TLEM2_
#define BM_SCALING _SCALING_NONE_
#define SHOW_AMMR24_FOOT 1
#define SHOW_AMMR25_FOOT 0
#define BM_LEG_MUSCLES_BOTH OFF
#define BM_LEG_LEFT OFF
#include "<ANYBODY_PATH_MODELUTILS>/Video/VideoLookAtCamera.any"
Main = {
AnyFloat AMMR24Color = {0.6,0.6,0.6};
Main.HumanModel.BodyModel.Right.Leg.Seg = {
AnySeg Shank2 = {
Mass = 0;
Jii = {0,0,0};
r0=.Thigh.KneeJoint.sRel*.Thigh.Axes0'+.Thigh.r0-OldKneeJoint.sRel*Axes0';
Axes0 =
.Thigh.Axes0*
.Thigh.KneeJoint.ARel*
.Thigh.KneeJoint.RotNode.ARel*
RotMat((-pi/180)*...JointPos.KneeFlexion,z)*
OldKneeJoint.RotNode.ARel'*
OldKneeJoint.ARel';
AnyVar Sign = .Shank.Sign;
AnyFunTransform3D &Scale =.Shank.Scale;
AnyDrawSurf DrwSurfTibia =
{
FileName ??= ..STL.FilenameShank;
ScaleXYZ ??= {1.0, 1.0, ...Sign*1.0};
RGB ??= Main.AMMR24Color;
AnyFunTransform3D &Scale =.Scale;
Opacity ??= ...BonesOpacity.Shank;
Face=-1;
};
AnyDrawSurf DrwSurfFibula = {
FileName ??= ..STL.FilenameFibula;
ScaleXYZ ??= {1.0, 1.0, ...Sign*1.0};
RGB ??= Main.AMMR24Color;
AnyFunTransform3D &Scale =.Scale;
Opacity ??= ...BonesOpacity.Shank;
Face=-1;
};
AnyMat33 TF = {{1,0,0},{0,1,0},{0,0,Sign}};
AnyFolder StdPar = {
AnyVec3 MedialMalleolus = {0.017065441344676, 0.004967186589899, -0.027608399085015}*.TF';
AnyVec3 LateralMalleolus = {-0.017065441344676, -0.004967186589900, 0.027608399085015}*.TF';
AnyFloat KneeJointAxis = .Sign*{0.02081402, 0.1209213,0.9924439}*.TF'/ vnorm({0.02081402, 0.1209213,0.9924439});
AnyVec3 KneeJoint = ..Shank.StdPar.KneeJoint;
AnyVec3 LateralFemuralCondyleInNeutralConf = ..Shank.StdPar.LateralFemuralCondyleInNeutralConf;
AnyVec3 MedialFemuralCondyleInNeutralConf = ..Shank.StdPar.MedialFemuralCondyleInNeutralConf;
AnyVec3 Insertion_patella_tendon = ..Shank.StdPar.Insertion_patella_tendon;
AnyVec3 LateralTibialEpicondyle = ..Shank.StdPar.LateralTibialEpicondyle;
AnyVec3 MedialTibialEpicondyle = ..Shank.StdPar.MedialTibialEpicondyle;
};
AnyFloat pUnscaled = {StdPar.LateralMalleolus, StdPar.MedialMalleolus, StdPar.LateralTibialEpicondyle, StdPar.MedialTibialEpicondyle};
AnyFunTransform3D& GeomScale = ..GeoScaling.Shank.ScaleFunction;
#define MACRO_CONSTRUCT_ANATOMICAL_FRAME_s(p, SIGN) 0.5*(p[2]+p[3])
#define MACRO_CONSTRUCT_ANATOMICAL_FRAME_A(p, SIGN) RotMat(0.5*(p[2]+p[3]), 0.5*(p[0]+p[1]), p[2]) *RotMat(0.5*pi,y)*RotMat(-0.5*pi,x)*RotMat(0.5*(SIGN-1)*pi,y)
// #include "..\Scaling\SegScaleFunWrtAnatomicalFrame.any"
AnyRefNode AnatomicalFrame =
{
AnyFloat pScaled = .Scale(.pUnscaled);
sRel = MACRO_CONSTRUCT_ANATOMICAL_FRAME_s(pScaled, .Sign);
ARel = MACRO_CONSTRUCT_ANATOMICAL_FRAME_A(pScaled, .Sign);
AnyVec3 sRelUnscaled = MACRO_CONSTRUCT_ANATOMICAL_FRAME_s(.pUnscaled, .Sign); ///< Generic unscaled position of shank ScalingNode
AnyMat33 ARelUnscaled = MACRO_CONSTRUCT_ANATOMICAL_FRAME_A(.pUnscaled, .Sign);///< Generic unscaled rotation of shank ScalingNode
};
#undef MACRO_CONSTRUCT_ANATOMICAL_FRAME_s
#undef MACRO_CONSTRUCT_ANATOMICAL_FRAME_A
// AnyRefNode &AnatomicalFrame = .Shank.AnatomicalFrame;
AnyRefNode Insertion_patella_tendon = { sRel =.Scale(.StdPar.Insertion_patella_tendon);};
AnyKinPLine PatellaTendon = {
// These are the nodes that the measure refers to. The connection is regarded
// as being stiff.
AnyRefNode &Origin_patella_tendon = ..Patella.Origin_patella_tendon;
AnyRefNode &Insertion_patella_tendon = .Insertion_patella_tendon;
//AnyRefNode &Insertion_patella_tendon = ...Seg.Shank.Insertion_patella_tendon;
AnyDrawPLine Patella_tendon =
{
Thickness = 0.001;
RGB = Main.AMMR24Color;
Opacity = ....BonesOpacity.Patella;
};
};
AnyRefNode OldAnkleJoint = {
AnyVar TibialTorsionOffset = DesignVar(0);
// AnyVec3 sRelUnscaled = .StdPar.AnkleJoint;
AnyVec3 OldAnkleJoint = {0.01337003, -0.01126083, 0.0007477404};
AnyVec3 OldAnkleJointAxis = normalize({0.362799, 0.1304906, -0.9226858});
AnyMat33 ARelUnscaled = RotMat({0, 0, 0.0}, .Sign*(AnkleLateralControlPoint-AnkleMedialControlPoint ), .AnatomicalFrame.ARelUnscaled'[1])*RotMat(pi/2,y);
// Control point for the Ankle joint. Found by projecting the malleolus bony landmarks onto the
// ankle axis from the cadaver data set. Thus, scaling the control points will also scale the ankle joint axis
AnyVec3 AnkleLateralControlPoint = OldAnkleJoint + (.StdPar.LateralMalleolus - OldAnkleJoint)*OldAnkleJointAxis'*OldAnkleJointAxis;
// Control point for the Ankle joint. Found by projecting the malleolus bony landmarks onto the
// ankle axis from the cadaver data set. Thus, scaling the control points will also scale the ankle joint axis
AnyVec3 AnkleMedialControlPoint = OldAnkleJoint + (.StdPar.MedialMalleolus - OldAnkleJoint)*OldAnkleJointAxis'*OldAnkleJointAxis;
sRel = .Scale(OldAnkleJoint);
// Ankle Joint orientation is calculated based on the direction between the two control points.
ARel = RotMat({0,0,0.0}, .Sign*(.Scale(AnkleLateralControlPoint) - .Scale(AnkleMedialControlPoint) ), .AnatomicalFrame.ARel'[1])*RotMat(pi/2,y)*RotMat(TibialTorsionOffset,y);
};
AnyRefNode OldKneeJoint = {
AnyVec3 sRelUnscaled = .StdPar.KneeJoint;
AnyMat33 ARelUnscaled = RotMat({0,0,0.0},
.Sign*(LateralControlPoint - MedialControlPoint),
-1*.AnatomicalFrame.ARelUnscaled'[1])*RotMat(pi,z)*RotMat(-pi/2,y);
/// Control point for the knee joint. Found by projecting the EpicondylusFemoris bony landmarks onto the
/// knee axis from the cadaver data set. Thus, scaling the control points will also scale the Knee joint axis
AnyVec3 LateralControlPoint = .StdPar.KneeJoint + (.StdPar.LateralFemuralCondyleInNeutralConf - .StdPar.KneeJoint)*.StdPar.KneeJointAxis'*.StdPar.KneeJointAxis;
/// Control point for the knee joint. Found by projecting the EpicondylusFemoris bony landmarks onto the
/// knee axis from the cadaver data set. Thus, scaling the control points will also scale the Knee joint axis
AnyVec3 MedialControlPoint = .StdPar.KneeJoint + (.StdPar.MedialFemuralCondyleInNeutralConf - .StdPar.KneeJoint)*.StdPar.KneeJointAxis'*.StdPar.KneeJointAxis;
sRel = .Scale(.StdPar.KneeJoint);
/// Knee Joint orientation is calculated based on the direction between the two control points.
ARel = RotMat({0,0,0.0}, .Sign*(.Scale(LateralControlPoint)-.Scale(MedialControlPoint)), -1*.AnatomicalFrame.ARel'[1])*RotMat(pi,z)*RotMat(-pi/2,y);
AnyRefNode RotNode={
ARel={{....Sign*1,0,0},{0,....Sign*1,0},{0,0,1}};
};
AnyDrawLine line = {
p0 = 0.05*{0,0,1};
p1 = -0.05*{0,0,1};
Line.RGB = Main.AMMR24Color;
GlobalCoord = Off;
};
};
};
};
Main.HumanModel.BodyModel.Right.Leg = {
Jnt = {
AnyRevoluteJoint Knee2 = {
AnyRefFrame &thigh = .Knee.ThighNode;
AnyRefFrame &shank = ..Seg.Shank2.OldKneeJoint;
Axis = z;
};
AnyKinEqSimpleDriver Knee2Drv = {
AnyKinMeasure &KneeJoint2 = .Knee2;
DriverPos = {Main.HumanModel.Mannequin.Posture.Right.KneeFlexion*pi/180};
DriverVel = {Main.HumanModel.Mannequin.PostureVel.Right.KneeFlexion*pi/180};
};
};
};
Main.HumanModel.BodyModel.Right.Leg.Seg.Shank = {
AnyRefNode OldAnkleJoint = {
AnyVar TibialTorsionOffset = DesignVar(0);
AnyVec3 sRelUnscaled = .StdPar.AnkleJoint;
AnyVec3 OldAnkleJoint = {0.01337003, -0.01126083, 0.0007477404};
AnyVec3 OldAnkleJointAxis = normalize({0.362799, 0.1304906, -0.9226858});
AnyMat33 ARelUnscaled = RotMat({0, 0, 0.0}, .Sign*(AnkleLateralControlPoint-AnkleMedialControlPoint ), .AnatomicalFrame.ARelUnscaled'[1])*RotMat(pi/2,y);
// Control point for the Ankle joint. Found by projecting the malleolus bony landmarks onto the
// ankle axis from the cadaver data set. Thus, scaling the control points will also scale the ankle joint axis
AnyVec3 AnkleLateralControlPoint = OldAnkleJoint + (.StdPar.LateralMalleolus - OldAnkleJoint)*OldAnkleJointAxis'*OldAnkleJointAxis;
// Control point for the Ankle joint. Found by projecting the malleolus bony landmarks onto the
// ankle axis from the cadaver data set. Thus, scaling the control points will also scale the ankle joint axis
AnyVec3 AnkleMedialControlPoint = OldAnkleJoint + (.StdPar.MedialMalleolus - OldAnkleJoint)*OldAnkleJointAxis'*OldAnkleJointAxis;
sRel = .Scale(OldAnkleJoint);
// Ankle Joint orientation is calculated based on the direction between the two control points.
ARel = RotMat({0,0,0.0}, .Sign*(.Scale(AnkleLateralControlPoint) - .Scale(AnkleMedialControlPoint) ), .AnatomicalFrame.ARel'[1])*RotMat(pi/2,y)*RotMat(TibialTorsionOffset,y);
};
};
Main.HumanModel.BodyModel.Right.Leg.Seg.Shank.OldAnkleJoint = {
AnyDrawLine line = {
p0 = 0.05*{0,0,1};
p1 = -0.05*{0,0,1};
Line.RGB = Main.AMMR24Color;
GlobalCoord = Off;
};
};
Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.Talus.AnkleJoint = {
AnyDrawLine line = {
p0 = 0.05*{0,0,1};
p1 = -0.05*{0,0,1};
GlobalCoord = Off;
};
};
Main.HumanModel.BodyModel.Right.Leg.Seg.Shank.KneeJoint = {
AnyDrawLine line = {
p0 = 0.05*{0,0,1};
p1 = -0.05*{0,0,1};
GlobalCoord = Off;
};
};
Main.HumanModel.BodyModel.Right.Leg.Seg.Shank2 = {
#if SHOW_AMMR25_FOOT == 1
AnyRefNode AMMR25Foot = {
// LinRotZYXPos is the output of linear and rotational (RotAxesAngles) measures between the shank and foot with Ref = 0 for lin measure.
// AMMR 25 foot uses the values from AMMR shipped with AMS 7.5.0.10984. This includes the update of talus segmental frame to be coincident
// with the foot segmental frame and redefinition of foot/talus anatomical frame using bony landmarks. See AMMR master PR #800 and #810 on
// github for details.
AnyFloat LinRotZYXPos = {0.0073004129631475583, -0.030270340545254942, 0.0068700894472033197, 0.044073349632333815, -0.013175969238109486, -0.031498255158394939};
sRel = take(LinRotZYXPos, {0,1,2});
ARel = RotMat(LinRotZYXPos[3],z)*RotMat(LinRotZYXPos[4],y)*RotMat(LinRotZYXPos[5],x);
AnyDrawSurf FootSurf = {
// FileName = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.DrwSurf.FileName;
FileName = "Surfs25/foot";
RGB = {1,0,0};
};
AnyDrawSurf TalusSurf = {
FileName = "Surfs25/talus";
RGB = {1,0,0};
};
};
#endif
#if SHOW_AMMR24_FOOT == 1
AnyRefNode AMMR24Foot = {
// LinRotZYXPos is the output of linear and rotational (RotAxesAngles) measures between the shank and foot with Ref = 0 for lin measure.
// AMMR 24 foot uses the values from AMMR 2.4.4.
AnyFloat LinRotZYXPos = {0.0066484131164842976, -0.030121205310853393, 0.006633998007163501, 0.0078587544343148297, -0.0084462997063536882, -0.017192110582242365};
sRel = take(LinRotZYXPos, {0,1,2});
ARel = RotMat(LinRotZYXPos[3],z)*RotMat(LinRotZYXPos[4],y)*RotMat(LinRotZYXPos[5],x);
AnyDrawSurf FootSurf = {
FileName = "Surfs24/foot";
RGB = Main.AMMR24Color;
};
AnyRefNode AMMR24TalusNodeInFoot = {
// LinRotZYXPos is the output of linear and rotational (RotAxesAngles) measures between the foot and talus with Ref = 0 for lin measure.
// AMMR 2.4.4 has separate segmental frames for talus and foot. Therefore, the need for two nodes.
AnyFloat LinRotZYXPos = {0.0064517313882190806, 0.024429377011198451, -0.0055430553948084332, 0.0018108189479568528, 0.0070842459268321001, 0.013447326605168291}; //
//{0.012958866336459846, -0.0057403859490013399, 0.00072649518666837104, 0.0095474755358000256, -0.0013319584159514619, -0.0037594545457295004}; AMMR 24 Talus in Shank
sRel = take(LinRotZYXPos, {0,1,2});
ARel = RotMat(LinRotZYXPos[3],z)*RotMat(LinRotZYXPos[4],y)*RotMat(LinRotZYXPos[5],x);
AnyDrawSurf TalusSurf = {
FileName = "Surfs24/talus";
RGB = Main.AMMR24Color;
};
};
};
#endif
};
VideoLookAtCamera SnapShot1(UP_DIRECTION=y, _AUTO_OPEN_PREVIEW_=0) =
{
VideoName = "TLEM22_TLEM21_closeup";
Analysis = {
AnyOperation &ref = Main.study.InitialConditions;
};
Camera.Perspective = On;
CameraDistance = 1.04;
VideoInputScale = 5;
VideoResolution = {600,600};
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0,-0.96,0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0,0.15,0};
CameraFieldOfView = DesignVar(0.45);
CameraDirection = {1,0.2,0.50};
BackgroundColor = DesignVar({1,1,1});
Preview.FileName = VideoName + ".jpg";
};
VideoLookAtCamera SnapShot_Top(UP_DIRECTION=y, _AUTO_OPEN_PREVIEW_=0) =
{
VideoName = "TLEM22_TLEM21_TopView";
Analysis = {
AnyOperation &ref = Main.study.InitialConditions;
};
Camera.Perspective = On;
CameraDistance = 1.04;
VideoInputScale = 5;
VideoResolution = {600,600};
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0,-0.96,0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0.05,0.0,0};
CameraFieldOfView = DesignVar(0.65);
CameraDirection = {0.0001,0.65,0.0};
BackgroundColor = DesignVar({1,1,1});
Preview.FileName = VideoName + ".jpg";
// viewCamera = On;
};
VideoLookAtCamera SnapShot_Front(UP_DIRECTION=y, _AUTO_OPEN_PREVIEW_=0) =
{
VideoName = "TLEM22_TLEM21_FrontView";
Analysis = {
AnyOperation &ref = Main.study.InitialConditions;
};
Camera.Perspective = On;
CameraDistance = 1.04;
VideoInputScale = 5;
VideoResolution = {600,600};
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0,-0.96,0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0.0,0.15,0};
CameraFieldOfView = DesignVar(0.65);
CameraDirection = {1,0.0,0.0};
BackgroundColor = DesignVar({1,1,1});
Preview.FileName = VideoName + ".jpg";
// viewCamera = On;
};
VideoLookAtCamera SnapShot_Side(UP_DIRECTION=y, _AUTO_OPEN_PREVIEW_=0) =
{
VideoName = "TLEM22_TLEM21_SideView";
Analysis = {
AnyOperation &ref = Main.study.InitialConditions;
};
Camera.Perspective = On;
CameraDistance = 1.04;
VideoInputScale = 5;
VideoResolution = {600,600};
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0,-0.96,0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0.0,0.15,0};
CameraFieldOfView = DesignVar(0.65);
CameraDirection = {0,0.0,1.0};
BackgroundColor = DesignVar({1,1,1});
Preview.FileName = VideoName + ".jpg";
// viewCamera = On;
};
VideoLookAtCamera SnapShot_Foot_Front(UP_DIRECTION=y, _AUTO_OPEN_PREVIEW_=0) =
{
VideoName = "TLEM22_TLEM21_Foot_FrontView";
Analysis = {
AnyOperation &ref = Main.study.InitialConditions;
};
Camera.Perspective = On;
CameraDistance = 1.04;
VideoInputScale = 5;
VideoResolution = {600,600};
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0,-0.96,0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0.0,0.0,0};
CameraFieldOfView = DesignVar(0.25);
CameraDirection = {1,0.0,0.0};
BackgroundColor = DesignVar({1,1,1});
Preview.FileName = VideoName + ".jpg";
// viewCamera = On;
};
VideoLookAtCamera SnapShot_Foot_Side(UP_DIRECTION=y, _AUTO_OPEN_PREVIEW_=0) =
{
VideoName = "TLEM22_TLEM21_Foot_SideView";
Analysis = {
AnyOperation &ref = Main.study.InitialConditions;
};
Camera.Perspective = On;
CameraDistance = 1.04;
VideoInputScale = 5;
VideoResolution = {600,600};
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0,-0.96,0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0.08,0.0,0};
CameraFieldOfView = DesignVar(0.25);
CameraDirection = {0,0.0,1.0};
BackgroundColor = DesignVar({1,1,1});
Preview.FileName = VideoName + ".jpg";
// viewCamera = On;
};
VideoLookAtCamera RotatingVideo(UP_DIRECTION=y , _AUTO_PLAY_VIDEOS=OFF, VIDEO_ENCODER="libx264") =
{
VideoName = "TLEM22_TLEM21_rotating_model";
Analysis = {
AnyOperation &ref = Main.study.Kinematics;
};
VideoInputScale = 5;
VideoResolution = {650,650};
VideoInputFrameRate = 30;
VideoOutputFrameRate = 30;
// CameraLookAtPoint = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r+{0, -0.90, 0};
CameraLookAtPoint = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.r + {0,0.18,0};
CameraFieldOfView = DesignVar(0.55);
CameraDirection = {cos(2*pi*Main.study.t),0,sin(2*pi*Main.study.t) };
BackgroundColor = DesignVar({1,1,1});
Counter = Main.study.iStep;
};
#include "<ANYBODY_PATH_BODY>\HumanModel.any"
HumanModel.Mannequin.Posture.Right = {
ElbowPronation = -70;
WristAbduction = 15;
};
AnyBodyStudy study =
{
AnyFolder& CameraRef1 = Main.RotatingVideo;
AnyFolder& Model = Main.HumanModel.BodyModelWithDefaultDrivers;
Gravity = {0, -9.81, 0};
nStep = 150;
};
AnyOperationSequence RunApplication =
{
AnyOperation& initpos = Main.study.InitialConditions;
AnyOperation& SnapShot1 = Main.SnapShot1.Preview;
AnyOperation& RotatingVideo = Main.RotatingVideo.Create_Video;
};
};
Datasets
Models
