//Small model consisting of one segment on a prismatic joint
//The segment is loaded by a interpolated force and two pulling springs.
//The one dof in the model is determined by the equilibrium of the forces 
//using the force dependendent solver 

//Try to alter the applied force values in the interpolation function and see what happens

//For more details please see the section on force dependent kinematics (FDK) in the tutorials 
//and manuals

Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      
      AnyRefNode node1={
        sRel={1,0,0};
        AnyDrawRefFrame drw={};
        
      };
      
      AnyRefNode node2={
        sRel={-1,0,0};
        AnyDrawRefFrame drw={};
      };
      
    };  // Global reference frame
    
    AnySeg Slider ={
      r0={0.2,0,0};
      AnyDrawSeg drw={};
      Mass=10;
      Jii={0.1,0.1,0.1};
    };
    
    
    AnyPrismaticJoint Joint ={
      AnyFixedRefFrame &ref1=.GlobalRef;
      AnySeg &ref2=.Slider;
      Axis=x;
    };
    
    
    //create a sping like force
    AnyForce  Spring1 ={
      AnyKinPLine Line ={
        AnyFixedRefFrame &ref1=..GlobalRef.node1;
        AnySeg &ref2=..Slider;
        AnyDrawPLine drw={Thickness=0.005;RGB={0,0,1};};
      };
      F=-Line.Pos*1000;
      
    };

  //create a sping like force
   AnyForce  Spring2 ={
      AnyKinPLine Line ={
        AnyFixedRefFrame &ref1=..GlobalRef.node2;
        AnySeg &ref2=..Slider;
        AnyDrawPLine drw={Thickness=0.005;RGB={0,0,1};};
      };
      F=-Line.Pos*1000;
      
    };
   
    
    //Create a driver for the model
    AnyKinEqSimpleDriver Driver ={
      AnyPrismaticJoint &ref=.Joint ;
      DriverPos={0}; //This is the initial guess on the position
      DriverVel={0};
      CType = {ForceDep}; //The constraint type is set to be force dependent so it will find the
      //position with equilibrium
      Reaction.Type={Off}; //The reactions are swicthed off here because otherwise the spring and forces would 
      //just be taken up by this reaction
    };
    
    
    //Create a force and apply it to the segment
    AnyForce3D Force ={
      AnyFunInterpol ForceFunction ={
        T={0,0.25,0.5,0.75,1};
        Data ={{1,30,550,880,20}};  //Try to alter these number and see the position change when runnig inverse analysis
        Type=Bspline;
      };
      F={ForceFunction(Main.MyStudy.t)[0],0,0};
      AnySeg &ref2=.Slider;
      
      
    };
    
  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    InverseDynamics.ForceDepKinOnOff=On;  //Swicth the solver to run with the force dependent kinematics
    
    Gravity = {0.0, -9.81, 0.0};
  };
  
};  // Main