// Small example made to illustrate the differences between the interpolation functions types
 // The model will create an interpolated line which are controlled by a number of control points p1-p10.
 // Try to shift between the different types and you will see the differences it makes on the path of the line
 // you can choose between the types:
 // Piecewise linear
 // Bezier
  //bSpline
  //The types can be shifted in the "Driver" object 

  
Main = {
  
  // The actual body model goes in this folder
  AnyFolder Model = {
    
    //Points used for defining the line
    AnyVec3  p1={0,0,0};
    AnyVec3  p2={0.2,0.2,0.4};
    AnyVec3  p3={0.4,0.3,0.3};
    AnyVec3  p4={0.7,0.4,0.1};
    AnyVec3  p5={0.9,0.5,0.1};
    AnyVec3  p6={0.95,-0.2,0.3};
    AnyVec3  p7={1.2,-0.3,0.6};
    AnyVec3  p8={1.5,-0.1,0.8};
    AnyVec3  p9={2,0.2,0.9};
    AnyVec3  p10={2.4,0.5,1};
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      
      //Create some controlpoints 
      
      AnyRefNode p1={sRel=..p1;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };
      AnyRefNode p2={sRel=..p2;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };
      AnyRefNode p3={sRel=..p3;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };
      AnyRefNode p4={sRel=..p4;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };
      AnyRefNode p5={sRel=..p5;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };    
      AnyRefNode p6={sRel=..p6;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };
      AnyRefNode p7={sRel=..p7;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };    
      AnyRefNode p8={sRel=..p8;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };    
      AnyRefNode p9={sRel=..p9;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };    
      AnyRefNode p10={sRel=..p10;
        AnyDrawRefFrame drw={ScaleXYZ={0.01,0.01,0.01};};
      };    
      
      
    };  // Global reference frame
    
    
    
    
    
    AnySeg  Seg={
      Mass=0;Jii={0,0,0};
      AnySurfSphere  Sphere= {
        Radius=0.01;
        AnyDrawParamSurf drw={};
      };
    };
    
    AnyKinLinear lin={
      AnyFixedRefFrame  &ref1=.GlobalRef ;
      AnySeg  &ref2=.Seg;
    };
    AnyKinEq RotDrv={
      AnyKinRotational rot={
        AnyFixedRefFrame  &ref1=..GlobalRef ;
        AnySeg  &ref2=..Seg;
        Type=RotAxesAngles;
      };
    };
    
    //Interpolation driver
    AnyKinEqInterPolDriver Driver =  {
      Type = Bspline ;  //try to swicth between the different types
      BsplineOrder = 4;
      //      Type = Bezier ;   //try to swicth between the different types
      //       Type = PiecewiseLinear ;//try to swicth between the different types
      
      T =({0,1,2,3,4,5,6,7,8,9}/9)*Main.MyStudy.tEnd ;
      //use the control points as data in the interpoaltion function
      Data ={
        {.p1[0],.p2[0],.p3[0],.p4[0],.p5[0],.p6[0],.p7[0],.p8[0],.p9[0],.p10[0]},
        {.p1[1],.p2[1],.p3[1],.p4[1],.p5[1],.p6[1],.p7[1],.p8[1],.p9[1],.p10[1]},
        {.p1[2],.p2[2],.p3[2],.p4[2],.p5[2],.p6[2],.p7[2],.p8[2],.p9[2],.p10[2]}};
      AnyKinMeasure &ref = .lin;  //reference to the measue being driven
    };
    
    
    //This section is just made in order to draw the trajectory
    AnyFixedRefFrame Chart1Ref ={
      
      Origin = -{5,5,5};
      AnyChart Chart1 =  {
        Style = {
          Sizes = {10,10,10};
          Axes = { Style = 0; };
        };
        
        Series = 
        {
          AnyChartSerie series0 =           {
            Lines.RGB = {0,0,1};
            Abscissa = "Main.MyStudy.Output.Model.Seg.r[0]";
            Abscissa2 = "Main.MyStudy.Output.Model.Seg.r[1]";
            Value  = "Main.MyStudy.Output.Model.Seg.r[2]";
            Lines = {  Thickness = 3.0; };
          };
        };
        
        AbsAxis = {
          Visible = Off;
          Min = -5;
          Max = 5;
          AutoMin = Off;
          AutoMax = Off;
        };
        
        AbsAxis2 = 
        {
          Visible = Off;
          Min = -5;
          Max = 5;
          AutoMin = Off;
          AutoMax = Off;
        };
        
        ValueAxis = 
        {
          Visible = Off;
          Min = -5;
          Max = 5;
          AutoMin = Off;
          AutoMax = Off;
        };
      };
      
    };  //chart
    
    
  }; // MyModel
  
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .Model;
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
    nStep=1000;
  };
  
  
};  // Main