315 lines (212 with data), 8.4 kB

#include "../libdef.any"


#ifndef MOVE_PELVIS
#define MOVE_PELVIS ON
#endif

Main = 
{

  // BodyModel configuration:
  #include "BodyModelConfiguration.any"
  
   
  // Include the Human model from AMMR
  #include "<ANYBODY_PATH_BODY>\HumanModel.any"
  
  // Define your models posture or movement
  #include "Mannequin.any"
  
  // Compose the model used by the study
  AnyFolder Model = 
  {  
    // Center of Mass (COM) position in the ground YZ plane
    // COM balance driver can be excluded with:
    // #define EXCLUDE_COM_BALANCE_DRIVERS
    AnyVector CenterOfMassXZ = {0,0};
    
    // Positioning of the right and left feet. 
    // Ground-foot constraints can be excluded with:
    // #define EXCLUDE_FOOT_CONSTRAINTS
    Environment.GlobalRef.RightFootPrint = {
      AnyVec3 HeelPosition = {-0.08, 0, 0.14};
      AnyVec3 ToeDirection = {1, 0, 0.1}; 
    };
    Environment.GlobalRef.LeftFootPrint = {
      AnyVec3 HeelPosition = {-0.08, 0, -0.14};
      AnyVec3 ToeDirection = {1, 0, -0.1}; 
    };
    
    // Include the body part of the Human model
    AnyFolder &BodyModel = .HumanModel.BodyModel;
    
    // Include the default mannequin drivers
    AnyFolder &DefaultMannequinDrivers = .HumanModel.DefaultMannequinDrivers;
    
    // Environment files are used to include objects surrounding human,
    // e.g. global reference frame
    #include "Environment.any"   
    
    AnyFolder ModelEnvironmentConnection = 
    {
      //Move Pelvis to test if this will break kin
//      AnyKinEqSimpleDriver PelvisMover ={
//        AnyKinMeasure &ref=.Main.HumanModel.BodyModel.Interface.Trunk.PelvisPosX.lin;
//        DriverPos ={0,0,0};
//        #if MOVE_PELVIS == ON
//        DriverVel ={-10,0,0};
//        #else
//        DriverVel ={0,0,0};
//        #endif
//        Reaction.Type = {On,On,On};
//      };
      
     AnyKinEqFourierDriver PelvisMover =      {
        Type = CosSin;
        Freq = 1.2;    
        #if MOVE_PELVIS == ON
        A = {{0, 1.5 },{0, 0},{0, 0 }};
        B = {{0, 0},{0, 0},{0, 1.5}};       
        #else
        A = {{0, 0 },{0, 0 },{0, 0 }};
        B =  {{0, 0},{0, 0},{0, 0}};       
        #endif
        Reaction.Type={On,On,On};
        AnyKinMeasure &ref=.Main.HumanModel.BodyModel.Interface.Trunk.PelvisPosX.lin;
      };
      
      
      
      
      
      
      
      //Move Pelvis to test if this will break kin
      AnyKinEqSimpleDriver PelvisMoverRot ={
        AnyKinMeasure &ref=.Main.HumanModel.BodyModel.Interface.Trunk.PelvisRotX.rot;
        DriverPos ={0,0,0};
        #if MOVE_PELVIS == ON
        DriverVel ={0, 3*pi, 0};
        #else
        DriverVel ={0,0,0};
        #endif
        Reaction.Type = {On,On,On};
      };
  
    };
  };
  
  AnyBodyStudy Study =
  {
    AnyFolder &Model = .Model;  
    
    Gravity={0.0, -9.81, 0.0};
    nStep = 200;
    tStart=0;
    tEnd=4;
    // Overdeterminate solver is needed while using the 
    // soft default mannequin drivers.
    Kinematics.SolverType = KinSolDeterminate;
    InitialConditions.SolverType = Kinematics.SolverType;
    
    //Include the next line to have a camera in the model
    // Note: to generate videos FFMPEG must be available on the
    // system.
    //#include "Model/VideoCamera.any"
    
    
    AnyFolder JointAndDrivers ={
      
      AnyFolder Right ={
      
      AnyKinEqSimpleDriver  PlaneOfElevation ={
        AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Right.ThoraxHumerus.PlaneOfElevation;
        DriverPos ={-20*pi/180};
        DriverVel ={130*pi/180}/20;
        Reaction.Type={Off};
      };
      
      
      AnyKinEqSimpleDriver  AxialRot ={
        AnyKinMeasure &ref=  Main.HumanModel.BodyModel.Interface.Right.ThoraxHumerus.InternalAxialRotation;
        DriverPos ={0*pi/180};
        DriverVel ={0};
        CType={Soft};
        Reaction.Type={Off};
      };
      
      
      
      
      AnyKinEqFourierDriver Elevation = 
      {
        Type = CosSin;
        Freq = 0.5;    
        A ={{80, 0 }}*pi/180;
        B = {{0, (70)}}*pi/180;
        Reaction.Type={Off};
        
        
        AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Right.ThoraxHumerus.Elevation;
      };
      
    };
      
    
    
    
    
     AnyFolder Left ={
      
      AnyKinEqSimpleDriver  PlaneOfElevation ={
        AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Left.ThoraxHumerus.PlaneOfElevation;
        DriverPos =Main.Study.JointAndDrivers.Right.PlaneOfElevation.DriverPos;
        DriverVel =Main.Study.JointAndDrivers.Right.PlaneOfElevation.DriverVel;
        Reaction.Type={Off};
      };
      
      
      AnyKinEqSimpleDriver  AxialRot ={
        AnyKinMeasure &ref=  Main.HumanModel.BodyModel.Interface.Left.ThoraxHumerus.InternalAxialRotation;
        DriverPos =Main.Study.JointAndDrivers.Right.AxialRot.DriverPos;
        DriverVel =Main.Study.JointAndDrivers.Right.AxialRot.DriverVel;
        CType={Soft};
        Reaction.Type={Off};

      };
      
      
      
      
      AnyKinEqFourierDriver Elevation = 
      {
        Type = CosSin;
        Freq =  Main.Study.JointAndDrivers.Right.Elevation.Freq;
        A =  Main.Study.JointAndDrivers.Right.Elevation.A;
        B =  Main.Study.JointAndDrivers.Right.Elevation.B;
        Reaction.Type={Off};
        AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Left.ThoraxHumerus.Elevation;
      };
      
    };
      
    };

    
   
};




 AnyBodyStudy Study2 =
  {
    AnyFolder &Model = .Model;  
    
    Gravity={0.0, -9.81, 0.0};
    nStep = 50;
    tEnd=5;
    // Overdeterminate solver is needed while using the 
    // soft default mannequin drivers.
    Kinematics.SolverType = KinSolDeterminate;
    InitialConditions.SolverType = Kinematics.SolverType;
    
    //Include the next line to have a camera in the model
    // Note: to generate videos FFMPEG must be available on the
    // system.
    //#include "Model/VideoCamera.any"
    
    
    AnyFolder JointAndDrivers ={
      AnyFolder Right ={
       
     AnyKinEqFourierDriver PlaneOfElevation =      {
        Type = CosSin;
        Freq = 0.25;    
          A = {{25, -80 }}*pi/180;
          B = {{0, 0}}*pi/180;       
              Reaction.Type={Off};

      AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Right.ThoraxHumerus.PlaneOfElevation;
      };
      
      
      AnyKinEqSimpleDriver  AxialRot ={
        AnyKinMeasure &ref=  Main.HumanModel.BodyModel.Interface.Right.ThoraxHumerus.InternalAxialRotation;
        DriverPos ={0*pi/180};
        DriverVel ={0};
        CType={Soft};
             Reaction.Type={Off};
 };
      
      
      
      
      AnyKinEqFourierDriver Elevation = 
      {
        Type = CosSin;
        Freq = .25;    
        A = {{80, 0 }}*pi/180;
        B ={{0, (70)}}*pi/180;
              Reaction.Type={Off};
  
        
        AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Right.ThoraxHumerus.Elevation;
      };
      
      
      
    };
    
    
      AnyFolder Left ={
       
     AnyKinEqFourierDriver PlaneOfElevation =      {
        Type = CosSin;
        Freq = 0.25;    
          A ={{25, -80 }}*pi/180;
      B =  {{0, 0}}*pi/180;       
             Reaction.Type={Off};
 
      AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Left.ThoraxHumerus.PlaneOfElevation;
      };
      
      
      AnyKinEqSimpleDriver  AxialRot ={
        AnyKinMeasure &ref=  Main.HumanModel.BodyModel.Interface.Left.ThoraxHumerus.InternalAxialRotation;
        DriverPos ={0*pi/180};
        DriverVel ={0};
        CType={Soft};
            Reaction.Type={Off};
  };
      
      
      
      
      AnyKinEqFourierDriver Elevation = 
      {
        Type = CosSin;
        Freq = .25;    
        A = {{80, 0 }}*pi/180;
        B = {{0, (70)}}*pi/180;
        
              Reaction.Type={Off};
  
        AnyKinMeasure &rtef=.Main.HumanModel.BodyModel.Interface.Left.ThoraxHumerus.Elevation;
      };
      
      
      
    };
    
  };
    
    
       

};


}; //Main