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

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

  };

  AnyKinEqSimpleDriver RHeelGroundConstraint ={
    AnyKinLinear HeelPos = {
      AnyFixedRefFrame &Ground = Main.Model.Environment.GlobalRef;
      AnyRefNode &Ball = Main.Model.HumanModel.Right.Leg.Seg.Foot.HeelJoint;
    };
    MeasureOrganizer = {1};  // Only the y coordinate
    DriverPos = {0.0};
    DriverVel = {0};
    Reaction.Type = {Off};   // Provide ground reaction forces
  };


    // Position the Ankles right above the z axis
  AnyKinEqSimpleDriver RAnkleX = {
    AnyKinLinear AnklePos = {
      AnyFixedRefFrame &Ground = Main.Model.Environment.GlobalRef;
      AnyRefNode &Ankle = ..LegR.Seg.Foot.AnkleJoint;
    };
    MeasureOrganizer = {0};  // Only the x coordinate
    DriverPos = {0.0};
    DriverVel = {0.0};
    Reaction.Type = {Off};
  };


    // ************************************
  // Drivers for the right leg
  // ************************************

   //Hip driver
  AnyKinEqSimpleDriver HipDriverRight={
    AnyKinMeasure& ref1 =...HumanModel.Interface.Right.HipFlexion;
    AnyKinMeasure& ref2 =...HumanModel.Interface.Right.HipExternalRotation;
    AnyKinMeasure& ref3 =...HumanModel.Interface.Right.HipAbduction;
    DriverPos= pi/180*{
      .JntPos.Right.HipFlexion,
      .JntPos.Right.HipExternalRotation,
      .JntPos.Right.HipAbduction
    };
    DriverVel = pi/180*{
      .JntVel.Right.HipFlexion,
      .JntVel.Right.HipExternalRotation,
      .JntVel.Right.HipAbduction
    };
    Reaction.Type={Off,Off,Off};

  };

  //Knee driver
  AnyKinEqSimpleDriver KneeDriverRight={
    AnyKinMeasure& Knee = ...HumanModel.Interface.Right.KneeFlexion;
    DriverPos=pi/180*{.JntPos.Right.KneeFlexion};
    DriverVel = pi/180*{.JntVel.Right.KneeFlexion};
    Reaction.Type={Off};
  };

  //Ankle driver
  AnyKinEqSimpleDriver AnkleDriverRight={
    AnyKinMeasure& ref1=...HumanModel.Interface.Right.AnklePlantarFlexion;
    AnyKinMeasure& ref2=...HumanModel.Interface.Right.AnkleEversion;
    DriverPos = pi/180*{.JntPos.Right.SubTalarEversion};
    DriverVel=pi/180*{.JntVel.Right.SubTalarEversion};
    Reaction.Type={Off};
    MeasureOrganizer={1};
  };


    AnyReacForce RightFootReaction = {


    AnyKinRotational rot = {
      AnySeg &ref1=..LegR.Seg.Foot;
      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;
      Type = RotVector;
    };

    AnyKinLinear RightFootLinMeasure = {
      AnySeg &ref1=..LegR.Seg.Foot;
      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;
    };

  };


  MannequinLoads.Right = {

      AnyForce3D Hip = {
      AnyRefNode &ApplPoint = .rhm.Leg.Seg.Thigh.HipJoint;
      F = .locmql.Hip;
    };

    AnyForce3D Knee = {
      AnyRefNode &ApplPoint = .rhm.Leg.Seg.Thigh.KneeJoint;
      F = .locmql.Knee;
    };

    AnyForce3D Ankle = {
      AnyRefNode &ApplPoint = .rhm.Leg.Seg.Foot.AnkleJoint;
      F = .locmql.Ankle;
    };
  };