tutorials/Scaling/Snippets/lesson5/StandingMan1/Model/LeftFootDrivers.any at 9d6ebbafd73931bb1cf65e715f07be72cea94e3c · AnyBody/tutorials · GitHub

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  AnyReacForce LeftFootReaction = {

    AnyKinLinear LeftFootLinMeasure = {
      AnySeg &ref1=...HumanModel.BodyModel.Left.Leg.Seg.Foot;
      AnyFixedRefFrame &ref2 = ...Environment.GlobalRef;
    };
    AnyKinRotational LeftFootRotMeasure = {
      AnySeg &ref1=...HumanModel.BodyModel.Left.Leg.Seg.Foot;
      AnyFixedRefFrame &ref2 = ...Environment.GlobalRef;
      Type = RotVector;
    };
  };


  // Place the Left toe and heel on the ground
  AnyKinEqSimpleDriver LToeGroundConstraint ={
    AnyKinLinear ToePos = {
      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;
      AnyRefNode &Ball = ...HumanModel.BodyModel.Left.Leg.Seg.Foot.ToeJoint;
    };
   MeasureOrganizer = {1};  // Only the y coordinate
    DriverPos = {0.0};
    DriverVel = {0};
    Reaction.Type = {Off};   // Provide ground reaction forces

  };

  AnyKinEqSimpleDriver LHeelGroundConstraint ={
    AnyKinLinear HeelPos = {
      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;
      #if BM_LEG_MODEL == _LEG_MODEL_LEG_
        AnyRefNode &Ball = ...HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelJoint;
      #else
        AnyRefNode &Ball = ...HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelNode;
      #endif
    };
    MeasureOrganizer = {1};  // Only the y coordinate
    DriverPos = {0.0};
    DriverVel = {0};
    Reaction.Type = {Off};   // Provide ground reaction forces
  };


    // Position the Ankles Left above the z axis
  AnyKinEqSimpleDriver LAnkleX = {
    AnyKinLinear AnklePos = {
      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;
      #if BM_LEG_MODEL == _LEG_MODEL_LEG_
        AnyRefNode &Ankle = ...HumanModel.BodyModel.Left.Leg.Seg.Foot.AnkleJoint;
      #else
        AnyRefNode &Ankle = ...HumanModel.BodyModel.Left.Leg.Seg.Foot.SubTalarJoint;
      #endif
    };
    MeasureOrganizer = {0};  // Only the x coordinate
    DriverPos = {0.0};
    DriverVel = {0.0};
    Reaction.Type = {Off};
  };