181 lines (133 with data), 5.3 kB

#class_template TripodOnPlane (AnyRefFrame &Base,AnyMechOpr &Study,LinOnOffX,LinOnOffY,LinOnOffZ,RotOnOffX,RotOnOffY,RotOnOffZ){
  
  
  
  
  
  #var AnyVec3 GlobalPos ;  // Variable with obligatory initialization
  #var AnyVec3 GlobalRotZYX ;  // Variable with obligatory initialization
  #var AnyVec3 LocalPos ;  // Variable with obligatory initialization
  #var AnyVec3 LocalRotZYX ;  // Variable with obligatory initialization
  #var AnyVar TripodSize;// Variable with obligatory initialization
  
  AnyDrawWidgetLin DrwWidget1 = {
    RefFrame = &.Main.Model.EnvironmentModel.GlobalRef;
    Target = &.Box.Origin;
    AxisOnOff = {.LinOnOffX ,.LinOnOffY ,.LinOnOffZ };
    UpdateEvent = OnMouseRelease;
    Operation = &.Study;
    MaxDrawSize=0.15;
    AnyVec3 tt=.Box.BoxRot.CenterOfBox.sRel;
    RelPos=&tt;
    Opacity=0.5;
    
  };
  
  AnyDrawWidgetRot DrwWidget2 = {
    RefFrame = &.Box;
    Target = &.Box.BoxRot.ARel;
    AxisOnOff = {.RotOnOffX ,.RotOnOffY ,.RotOnOffZ };
    UpdateEvent = OnMouseRelease;
    Operation = &.Study;
    MaxDrawSize=0.05;
    Opacity=0.5;
    
    
    
    
  };
  
  AnyFixedRefFrame  Box ={
    Origin =.GlobalPos;
    
    AnyRefNode BoxRot={
      
      ARel=RotMat(..GlobalRotZYX[0]*pi/180,z)*RotMat(..GlobalRotZYX[1]*pi/180,y)*RotMat(..GlobalRotZYX[2]*pi/180,x);
      
      AnyRefNode CenterContactNode ={
        AnyDrawNode drw1={  RGB={1,0,0};    ScaleXYZ=0.01*{1,1,1};};
        sRel={-0.5*...TripodSize,0,0};
        
      }; 
      
      AnyRefNode MedialContactNode ={
        sRel={0.5*...TripodSize,-0.5*...TripodSize,0};
        AnyDrawNode drw1={  RGB={1,0,0};    ScaleXYZ=0.01*{1,1,1};};
      };
      
      AnyRefNode LateralContactNode ={
        sRel={0.5*...TripodSize,0.5*...TripodSize,0};
        AnyDrawNode drw1={  RGB={1,0,0};    ScaleXYZ=0.01*{1,1,1};};
      };

      AnyKinPLine Line  ={
         AnyRefNode &ref1= .CenterContactNode ;
         AnyRefNode &ref2= .MedialContactNode ;
          AnyRefNode &ref3= .LateralContactNode;
         AnyRefNode &ref4= .CenterContactNode ;
      
       AnyDrawPLine drw={Thickness=.001; RGB={1,0,0};};
       };
      
      AnyRefNode CenterOfBox ={
        sRel={0,0,0};
      };

      
      
//      AnyRefNode BoxNode ={
//        sRel={...TripodSize*0.5,0,0}-{DrwBox.ScaleXYZ[0]*0.5,0,-0.5*DrwBox.ScaleXYZ[2] };
////        AnyDrawSurf DrwBox = {
////          FileName = "UnityBox";
////          RGB = 0.45*{1,1,1};
////          ScaleXYZ={....TripodSize,....TripodSize,....TripodSize*0.1};
////          Opacity =0.15;
////          Face=-1;
////        };
//        
//      };
    };
  };
  
  //  AnySeg &Base=Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Hand;
  
  Base={
    AnyRefNode CenterContactNode  ={
      sRel=..LocalPos;
      ARel=RotMat(..LocalRotZYX[0]*pi/180,z)*RotMat(..LocalRotZYX[1]*pi/180,y)*RotMat(..LocalRotZYX[2]*pi/180,x);
      AnyDrawNode node={          ScaleXYZ=0.01*{1,1,1}; RGB={0,0,1};};
      AnyDrawRefFrame drw2={       RGB = 0.45*{1,1,1};      ScaleXYZ=0.05*{1,1,1};    };
      
    };
    
    AnyRefNode MedialContactNode  ={
      AnyDrawNode drw2={          ScaleXYZ=0.01*{1,1,1}; RGB={0,0,1};};
      sRel={-..TripodSize,0.5*..TripodSize,0}*ARel+.CenterContactNode.sRel;
      ARel=.CenterContactNode.ARel;
    };
    AnyRefNode LateralContactNode  ={
      AnyDrawNode drw2={          ScaleXYZ=0.01*{1,1,1}; RGB={0,0,1};};
      sRel={-..TripodSize,-0.5*..TripodSize,0}*ARel+.CenterContactNode.sRel;
      ARel=.CenterContactNode.ARel;
    };
    
  };
  
  AnyKinEqSimpleDriver CenterNode ={
    AnyKinLinear Lin={
      Ref=0;
      AnyRefNode &ref1=..Base.CenterContactNode ;
      AnyRefNode &ref2=..Box.BoxRot.CenterContactNode;
    };
    
    
    DriverPos={0,0,0};
    DriverVel={0,0,0};
    Reaction.Type={Off,Off,Off};
    CType={Soft,Soft,Soft};
  };
  
  AnyKinPLine CenterNodeLine ={
    AnyRefFrame &ref1=.CenterNode.Lin.ref1;
    AnyRefFrame &ref2=.CenterNode.Lin.ref2;
    AnyDrawPLine drw={Thickness=0.001; RGB={0,0,1};};
  };
  
  
  
  AnyKinEqSimpleDriver MedialContactNode ={
    AnyKinLinear Lin={
      Ref=0;
      AnyRefNode &ref1=..Base.MedialContactNode ;
      AnyRefNode &ref2=..Box.BoxRot.MedialContactNode ;
    };
    
    
    DriverPos={0,0,0};
    DriverVel={0,0,0};
    Reaction.Type={Off,Off,Off};
    CType={Soft,Soft,Soft};
  };
  
  AnyKinPLine MedialContactNodeLine ={
    AnyRefFrame &ref1=.MedialContactNode.Lin.ref1;
    AnyRefFrame &ref2=.MedialContactNode.Lin.ref2;
    AnyDrawPLine drw={Thickness=0.001; RGB={0,0,1};};
  };
  
  
  AnyKinEqSimpleDriver LateralContactNode ={
    AnyKinLinear Lin={
      Ref=0;
      AnyRefNode &ref1=..Base.LateralContactNode ;
      AnyRefNode &ref2=..Box.BoxRot.LateralContactNode ;
    };
    
    
    DriverPos={0,0,0};
    DriverVel={0,0,0};
    Reaction.Type={Off,Off,Off};
    CType={Soft,Soft,Soft};
  };
  AnyKinPLine LateralContactNodeLine ={
    AnyRefFrame &ref1=.LateralContactNode.Lin.ref1;
    AnyRefFrame &ref2=.LateralContactNode.Lin.ref2;
    AnyDrawPLine drw={Thickness=0.0001; RGB={0,0,1};};
  };
  
  
  
};