61 lines (55 with data), 1.9 kB

#ifndef FOOTPRINT_NODE_NAME_1
  #define FOOTPRINT_NODE_NAME_1 ToeMedialContactNode
#endif
#ifndef FOOTPRINT_NODE_NAME_2
  #define FOOTPRINT_NODE_NAME_2 ToeLateralContactNode
#endif
#ifndef FOOTPRINT_NODE_NAME_3
  #define FOOTPRINT_NODE_NAME_3 HeelContactNodeLow
#endif
#ifndef FOOTPRINT_NODE_NAME_4
  #define FOOTPRINT_NODE_NAME_4 BigToeNode
#endif

#class_template FootConnection_3Points(AnyFolder& RefFootPrintFolder, HeelLiftOffEnable)
{
  #var AnySwitch ReactionOnOff = Off;
  #var AnyVar HeelLiftOffSoftConstraintWeight = 50.0/50;
  
  AnyKinEq Connection_Point1 =
  {
    AnyKinLinear lin = 
    {
      AnyRefFrame &ref0 = ..RefFootPrintFolder.InternalInfo.Target.FOOTPRINT_NODE_NAME_1;
      AnyRefFrame &ref1 = ..RefFootPrintFolder.InternalInfo.Source.FOOTPRINT_NODE_NAME_1;
      Ref = 0;
    };
    MeasureOrganizer = {0, 1, 2};  // Only the y, z coordinates
    Reaction.Type = {.ReactionOnOff, .ReactionOnOff, .ReactionOnOff};
  };
  
  AnyKinEq Connection_Point2 =
  {
    AnyKinLinear lin = 
    {
      AnyRefFrame &ref0 = ..RefFootPrintFolder.InternalInfo.Target.FOOTPRINT_NODE_NAME_2;
      AnyRefFrame &ref1 = ..RefFootPrintFolder.InternalInfo.Source.FOOTPRINT_NODE_NAME_2;
      Ref = 0;
    };
    MeasureOrganizer = {1, 2};  //y, z coordinates
    Reaction.Type = {.ReactionOnOff, .ReactionOnOff};
  };
  
  AnyKinEq Connection_Point3 =
  {
    AnyKinLinear lin = 
    {
      AnyRefFrame &ref0 = ..RefFootPrintFolder.InternalInfo.Target.FOOTPRINT_NODE_NAME_3;
      AnyRefFrame &ref1 = ..RefFootPrintFolder.InternalInfo.Source.FOOTPRINT_NODE_NAME_3;
      Ref = 0;
    };
    MeasureOrganizer = {1}; //y coordinate
    Reaction.Type = {.ReactionOnOff}; 
    #if HeelLiftOffEnable == 1
     CType = {Soft};
     AnyFunConst ConstFun = { Value = {..HeelLiftOffSoftConstraintWeight}; };
     WeightFun = {&ConstFun};    
    #endif
  };  
  
};