// This simple model shows how it is possible to measure the moment crested by the muscles
// around a joint and compare it with artificial reaction moments.
// The model initialy contains muscles, but you can switch them off and replace them by 
// artificial moments in the joint.

// For an identical load case you will see that the muscles are providing exactly the same
// moments around the joint as the artificial joint moments do.
// Further explainations and comments can be found in the code below.

Main = {

  // The actual body model goes in this folder
  AnyFolder MyModel = {

    
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      
      AnyDrawRefFrame Draw = {};
      
      AnyRefNode MusNode1 = 
      {
        sRel = {0.3, 0, 0};
        AnyDrawNode Draw = {};
      };
      
      AnyRefNode MusNode2 = 
      {
        sRel = {-0.3, 0, 0};
        AnyDrawNode Draw = {};
      };
      
      AnyRefNode MusNode3 = 
      {
        sRel = {0, 0, 0.3};
        AnyDrawNode Draw = {};
      };
      
      AnyRefNode MusNode4 = 
      {
        sRel = {0, 0, -0.3};
        AnyDrawNode Draw = {};
      };
            
    };  // Global reference frame

    
    
    
    AnySeg Seg = 
    {
      r0 = {0, -0.4, 0};
      Mass = 5;
      Jii = {0.1, 0.01, 0.1};
      
      AnyRefNode GroundNode = 
      {
        sRel = {0, 0.4, 0};
      };
      
      AnyRefNode MusNode1 = 
      {
        sRel = {0.1, -0.4, 0};
      };
      
      AnyRefNode MusNode2 = 
      {
        sRel = {-0.1, -0.4, 0};
      };
      
      AnyRefNode MusNode3 = 
      {
        sRel = {0, -0.4, 0.1};
      };
      
      AnyRefNode MusNode4 = 
      {
        sRel = {0, -0.4, -0.1};
      };
      
      AnyDrawSeg Draw = {};
    }; // End Seg
    
    
    
    
    //******* Joints and Drivers **************************************
    
    AnySphericalJoint Joint = 
    {
      AnyRefFrame &Ground = .GlobalRef;
      AnyRefFrame &Seg = .Seg.GroundNode;
      Orientation.Type = RotAxesAngles;
    };
    
    AnyKinEqSimpleDriver Driver = 
    {
      DriverPos = {pi/6.765,0,pi/8.345};
      DriverVel = {0,0,0};
      AnySphericalJoint &Joint = .Joint;
      Reaction.Type = {Off,Off,Off};
    };
    
    //******************************************************************
    
    
    
    
    


    //******************** Reaction Force on joint *********************
    // This part has to be include when removing the muscles, it is a
    // reaction force that replaces the action of the muscles.
    
    // There is a very important point to notice here. It is the switch
    // AngVelOnOff. Due to the specific way of measuring the rotations
    // (Rotvector or RotAxesAngles) this switch has to be On in order to
    // return a suitable moment vector.
    // This apply to joints containing more than one rotation (SphericalJoint
    // or UniversalJoint). A RevoluteJoint will not be concerned by this setting.
    
    // Also remenber that the kinematic measure used to drive the model should
    // not used AngVelOnOff = On. that is why the kinematic measure has been
    // duplicated, the joint itself is used for the driver and the AnyKinRotational
    // is used to read the reaction forces.

//    AnyKinRotational Rot = 
//    {
//      Type = RotAxesAngles;
//      AngVelOnOff = On;
//      AnyRefFrame &Ground = .GlobalRef;
//      AnyRefFrame &Seg = .Seg.GroundNode;
//    };
//
//    // This is the artificial moment in the joint to be compared with
//    // the moment measure of the muscles.
//    AnyReacForce ReacForce = 
//    {
//      AnyKinMeasure &Rot = .Rot;
//    };
    
    //******************************************************************
    

    
    
    
    
    
    //****************** Muscles and MomentMeasure *********************
    // When the muscles are included the joint reaction force above must
    // be outcomemted.
    // And similarly all this section should be outcomented when the joint
    // reaction force is activated.
    
    AnyViaPointMuscle Mus1 = 
    {
      AnyMuscleModel MusMdl = {F0 = 300;};
      AnyRefFrame &Ground = .GlobalRef.MusNode1;
      AnyRefFrame &Seg = .Seg.MusNode1;
      AnyDrawMuscle Draw = {};
    };
    
    AnyViaPointMuscle Mus2 = 
    {
      AnyMuscleModel MusMdl = {F0 = 300;};
      AnyRefFrame &Ground = .GlobalRef.MusNode2;
      AnyRefFrame &Seg = .Seg.MusNode2;
      AnyDrawMuscle Draw = {};
    };
    
    AnyViaPointMuscle Mus3 = 
    {
      AnyMuscleModel MusMdl = {F0 = 300;};
      AnyRefFrame &Ground = .GlobalRef.MusNode3;
      AnyRefFrame &Seg = .Seg.MusNode3;
      AnyDrawMuscle Draw = {};
    };
    
    AnyViaPointMuscle Mus4 = 
    {
      AnyMuscleModel MusMdl = {F0 = 300;};
      AnyRefFrame &Ground = .GlobalRef.MusNode4;
      AnyRefFrame &Seg = .Seg.MusNode4;
      AnyDrawMuscle Draw = {};
    };

    
    // This will read the moment created by the muscles around the joint.
    // It can be compared with the joint reaction force.
    AnyForceMomentMeasure2 MomentMeasure = 
    {
      // This the point of interest, it should therefore be the joint
      // center of rotation.
      // Notice that by default the resulting moment is given in global
      // coordinate system. If you want the moment in the local joint 
      // coordinate system you will have to use coordinates transformation.
      AnyRefFrame &Ref = .GlobalRef;
      
      AnySeg &Seg = .Seg;
      
      AnyFolder &Mus1 = .Mus1;
      AnyFolder &Mus2 = .Mus2;
      AnyFolder &Mus3 = .Mus3;
      AnyFolder &Mus4 = .Mus4;
    };

    //*****************************************************************

    
    
    
    // External moment applied to the segment
    AnyMoment3D Moment = 
    {
      Mlocal = {0, 5, 0};
      AnyRefFrame &Seg = .Seg;
    };

    
    

  }; // MyModel

  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
    nStep = 1;
  };

};  // Main