static void make_confirm_menu(void)
{
Menu* ms;
ms = &root.confirm_menu;
ms->title = NULL;
ms->numoptions = 2;
ms->origin.x = 0;
ms->origin.y = 0;
ms->type = normal_menu;
ms->option = (MenuItem*)simm_malloc(ms->numoptions*sizeof(MenuItem));
if (ms->option == NULL)
error(exit_program,tool_message);
ms->option[0].active = yes;
ms->option[1].active = yes;
ms->option[0].visible = yes;
ms->option[1].visible = yes;
mstrcpy(&ms->option[0].name,confirmstr[0]);
mstrcpy(&ms->option[1].name,confirmstr[1]);
SET_BOX(ms->option[0].box,30,100,30,ms->option[0].box.y1+MENU_ITEM_HEIGHT);
SET_BOX(ms->option[1].box,160,230,30,ms->option[1].box.y1+MENU_ITEM_HEIGHT);
}
/* INIT_GENCOORDS: this function sets some of the initial values in the gencoord
* structs. It must be called after all the joints have been read in because it
* mallocs an array of size numjoints for each gencoord.
*/
ReturnCode init_gencoords(ModelStruct* ms)
{
int i;
for (i=0; i<ms->numgencoords; i++)
{
if (ms->gencoord[i]->default_value >= ms->gencoord[i]->range.start &&
ms->gencoord[i]->default_value <= ms->gencoord[i]->range.end)
ms->gencoord[i]->value = ms->gencoord[i]->default_value;
else if (ms->gencoord[i]->range.start > 0.0 ||
ms->gencoord[i]->range.end < 0.0)
ms->gencoord[i]->value = ms->gencoord[i]->range.start;
else
ms->gencoord[i]->value = 0.0;
ms->gencoord[i]->velocity = 0.0;
#if ! ENGINE
storeDoubleInForm(&ms->gencform.option[i], ms->gencoord[i]->value, 3);
#endif
ms->gencoord[i]->numjoints = 0;
ms->gencoord[i]->jointnum = (int*)simm_malloc(ms->numjoints*sizeof(int));
if (ms->gencoord[i]->jointnum == NULL)
return code_bad;
}
return code_fine;
}
ReturnCode initplot(int plotnum)
{
gPlot[plotnum]->plotnum = plotnum;
gPlot[plotnum]->numcurves = 0;
gPlot[plotnum]->zoomed_yet = no;
gPlot[plotnum]->numpoints = 0;
gPlot[plotnum]->xname_len = 0;
gPlot[plotnum]->yname_len = 0;
gPlot[plotnum]->title_len = 256;
gPlot[plotnum]->title = (char*)simm_malloc(gPlot[plotnum]->title_len);
gPlot[plotnum]->xname = NULL;
gPlot[plotnum]->yname = NULL;
gPlot[plotnum]->cursor_modelPtr = NULL;
gPlot[plotnum]->cursor_motion = NULL;
gPlot[plotnum]->show_cursor = yes;
gPlot[plotnum]->show_events = yes;
gPlot[plotnum]->needs_bounding = no;
gPlot[plotnum]->num_file_events = 0;
gPlot[plotnum]->file_event = NULL;
if (gPlot[plotnum]->title == NULL)
return code_bad;
NULLIFY_STRING(gPlot[plotnum]->title);
return code_fine;
}
ReturnCode make_dynparams_form(ModelStruct* ms)
{
int i, name_len, num_options;
Form* form;
if (ms->default_muscle)
num_options = ms->default_muscle->num_dynamic_params + 1; // one extra for muscle model
else
num_options = 1; // one extra for muscle model
form = &ms->dynparamsform;
form->numoptions = num_options;
form->selected_item = -1;
form->cursor_position = 0;
form->highlight_start = 0;
form->title = NULL;
ms->longest_dynparam_name = 0;
form->option = (FormItem*)simm_malloc(form->numoptions*sizeof(FormItem));
if (form->option == NULL)
return code_bad;
ms->dynparamsSize = 0;
for (i=0; i<form->numoptions; i++)
{
form->option[i].justify = yes;
form->option[i].active = yes;
form->option[i].visible = yes;
form->option[i].editable = yes;
form->option[i].use_alternate_colors = no;
form->option[i].data = NULL;
if (i == num_options - 1)
{
form->option[i].decimal_places = 0;
mstrcpy(&form->option[i].name, "muscle_model");
}
else
{
form->option[i].decimal_places = 3;
mstrcpy(&form->option[i].name, ms->default_muscle->dynamic_param_names[i]);
}
name_len = glueGetStringWidth(root.gfont.defaultfont, form->option[i].name);
if (name_len > ms->longest_dynparam_name)
ms->longest_dynparam_name = name_len;
SET_BOX1221(form->option[i].box, 0, 90,-FORM_FIELD_YSPACING*i,
form->option[i].box.y2-FORM_FIELD_HEIGHT);
ms->dynparamsSize = form->option[i].box.y2 - FORM_FIELD_HEIGHT;
}
ms->longest_dynparam_name -= 30;
return code_fine;
}
ReturnCode initMusclePath(dpMusclePathStruct *musclepoints)
{
musclepoints->num_orig_points = 0;
musclepoints->mp_orig_array_size = MUSCLEPOINT_ARRAY_INCREMENT;
musclepoints->mp_orig = (dpMusclePoint *)simm_malloc(musclepoints->mp_orig_array_size * sizeof(dpMusclePoint));
if (musclepoints->mp_orig == NULL)
return code_bad;
musclepoints->num_points = 0;
musclepoints->mp_array_size = 0;
musclepoints->mp = NULL;
return code_fine;
}
/* INIT_MUSCLE: this routine initializes much of the muscle structure. Before
* a given muscle is read-in from an input file, each of the pointers to its
* muscle-specific parameters is set to point into the default-muscle structure.
* Thus if a certain parameter is not specified for a muscle (e.g. force-length
* curve), the default-muscle's parameter is used. This cuts down significantly
* on the amount of information that must be supplied in a muscle file since
* most muscles share the same active_force_len_func, tendon_force_len_func,
* passive_force_len_func, and force_vel_func.
*/
ReturnCode init_muscle(ModelStruct* model, dpMuscleStruct* muscle, dpMuscleStruct* default_muscle)
{
int i;
memset(muscle, 0, sizeof(dpMuscleStruct));
muscle->display = default_muscle->display;
muscle->output = yes;
muscle->selected = no;
muscle->numgroups = default_muscle->numgroups;
muscle->group = default_muscle->group;
muscle->max_isometric_force = default_muscle->max_isometric_force;
muscle->pennation_angle = default_muscle->pennation_angle;
muscle->optimal_fiber_length = default_muscle->optimal_fiber_length;
muscle->resting_tendon_length = default_muscle->resting_tendon_length;
muscle->min_thickness = default_muscle->min_thickness;
muscle->max_thickness = default_muscle->max_thickness;
muscle->min_material = default_muscle->min_material;
muscle->max_material = default_muscle->max_material;
muscle->max_contraction_vel = default_muscle->max_contraction_vel;
muscle->force_vel_func = default_muscle->force_vel_func;
if (init_dynamic_param_array(muscle, default_muscle) == code_bad)
return code_bad;
muscle->muscle_model_index = default_muscle->muscle_model_index;
muscle->excitation_func = default_muscle->excitation_func;
muscle->excitation_abscissa = default_muscle->excitation_abscissa;
muscle->nummomentarms = model->numgencoords;
muscle->momentarms = (double *)simm_malloc(muscle->nummomentarms*sizeof(double));
if (muscle->momentarms == NULL)
return code_bad;
for (i=0; i<muscle->nummomentarms; i++)
muscle->momentarms[i] = 0.0;
muscle->dynamic_activation = 1.0;
muscle->tendon_force_len_func = default_muscle->tendon_force_len_func;
muscle->active_force_len_func = default_muscle->active_force_len_func;
muscle->passive_force_len_func = default_muscle->passive_force_len_func;
muscle->wrap_calced = no;
return code_fine;
}
void init_segments(void)
{
sdm.num_body_segments = 16;
sdm.body_segment = (BodyStruct*)simm_malloc(sdm.num_body_segments*sizeof(BodyStruct));
mstrcpy(&sdm.body_segment[0].name,"ground");
sdm.body_segment[0].mass = 0.000000;
sdm.body_segment[0].inertia[0][0] = 0.000000;
sdm.body_segment[0].inertia[0][1] = 0.000000;
sdm.body_segment[0].inertia[0][2] = 0.000000;
sdm.body_segment[0].inertia[1][0] = 0.000000;
sdm.body_segment[0].inertia[1][1] = 0.000000;
sdm.body_segment[0].inertia[1][2] = 0.000000;
sdm.body_segment[0].inertia[2][0] = 0.000000;
sdm.body_segment[0].inertia[2][1] = 0.000000;
sdm.body_segment[0].inertia[2][2] = 0.000000;
sdm.body_segment[0].mass_center[0] = 0.000000;
sdm.body_segment[0].mass_center[1] = 0.000000;
sdm.body_segment[0].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[1].name,"pelvis");
sdm.body_segment[1].mass = 51.100000;
sdm.body_segment[1].inertia[0][0] = 1.396000;
sdm.body_segment[1].inertia[0][1] = 0.000000;
sdm.body_segment[1].inertia[0][2] = 0.000000;
sdm.body_segment[1].inertia[1][0] = 0.000000;
sdm.body_segment[1].inertia[1][1] = 0.715300;
sdm.body_segment[1].inertia[1][2] = 0.000000;
sdm.body_segment[1].inertia[2][0] = 0.000000;
sdm.body_segment[1].inertia[2][1] = 0.000000;
sdm.body_segment[1].inertia[2][2] = 2.580000;
sdm.body_segment[1].mass_center[0] = -0.070700;
sdm.body_segment[1].mass_center[1] = 0.263900;
sdm.body_segment[1].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[2].name,"femur_r");
sdm.body_segment[2].mass = 7.760000;
sdm.body_segment[2].inertia[0][0] = 0.137000;
sdm.body_segment[2].inertia[0][1] = 0.000000;
sdm.body_segment[2].inertia[0][2] = 0.000000;
sdm.body_segment[2].inertia[1][0] = 0.000000;
sdm.body_segment[2].inertia[1][1] = 0.031600;
sdm.body_segment[2].inertia[1][2] = 0.000000;
sdm.body_segment[2].inertia[2][0] = 0.000000;
sdm.body_segment[2].inertia[2][1] = 0.000000;
sdm.body_segment[2].inertia[2][2] = 0.137000;
sdm.body_segment[2].mass_center[0] = 0.000000;
sdm.body_segment[2].mass_center[1] = -0.170000;
sdm.body_segment[2].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[3].name,"tibia_r");
sdm.body_segment[3].mass = 3.030000;
sdm.body_segment[3].inertia[0][0] = 0.044400;
sdm.body_segment[3].inertia[0][1] = 0.000000;
sdm.body_segment[3].inertia[0][2] = 0.000000;
sdm.body_segment[3].inertia[1][0] = 0.000000;
sdm.body_segment[3].inertia[1][1] = 0.003830;
sdm.body_segment[3].inertia[1][2] = 0.000000;
sdm.body_segment[3].inertia[2][0] = 0.000000;
sdm.body_segment[3].inertia[2][1] = 0.000000;
sdm.body_segment[3].inertia[2][2] = 0.044500;
sdm.body_segment[3].mass_center[0] = 0.000000;
sdm.body_segment[3].mass_center[1] = -0.186700;
sdm.body_segment[3].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[4].name,"patella_r");
sdm.body_segment[4].mass = 0.100000;
sdm.body_segment[4].inertia[0][0] = 0.001000;
sdm.body_segment[4].inertia[0][1] = 0.000000;
sdm.body_segment[4].inertia[0][2] = 0.000000;
sdm.body_segment[4].inertia[1][0] = 0.000000;
sdm.body_segment[4].inertia[1][1] = 0.001000;
sdm.body_segment[4].inertia[1][2] = 0.000000;
sdm.body_segment[4].inertia[2][0] = 0.000000;
sdm.body_segment[4].inertia[2][1] = 0.000000;
sdm.body_segment[4].inertia[2][2] = 0.001000;
sdm.body_segment[4].mass_center[0] = 0.000000;
sdm.body_segment[4].mass_center[1] = 0.000000;
sdm.body_segment[4].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[5].name,"talus_r");
sdm.body_segment[5].mass = 0.100000;
sdm.body_segment[5].inertia[0][0] = 0.001000;
sdm.body_segment[5].inertia[0][1] = 0.000000;
sdm.body_segment[5].inertia[0][2] = 0.000000;
sdm.body_segment[5].inertia[1][0] = 0.000000;
sdm.body_segment[5].inertia[1][1] = 0.001000;
sdm.body_segment[5].inertia[1][2] = 0.000000;
sdm.body_segment[5].inertia[2][0] = 0.000000;
sdm.body_segment[5].inertia[2][1] = 0.000000;
sdm.body_segment[5].inertia[2][2] = 0.001000;
sdm.body_segment[5].mass_center[0] = 0.000000;
sdm.body_segment[5].mass_center[1] = 0.000000;
sdm.body_segment[5].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[6].name,"calcn_r");
sdm.body_segment[6].mass = 0.418300;
sdm.body_segment[6].inertia[0][0] = 0.001000;
sdm.body_segment[6].inertia[0][1] = 0.000000;
sdm.body_segment[6].inertia[0][2] = 0.000000;
sdm.body_segment[6].inertia[1][0] = 0.000000;
sdm.body_segment[6].inertia[1][1] = 0.001000;
sdm.body_segment[6].inertia[1][2] = 0.000000;
sdm.body_segment[6].inertia[2][0] = 0.000000;
sdm.body_segment[6].inertia[2][1] = 0.000000;
sdm.body_segment[6].inertia[2][2] = 0.001000;
sdm.body_segment[6].mass_center[0] = 0.025000;
sdm.body_segment[6].mass_center[1] = 0.015000;
sdm.body_segment[6].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[7].name,"midfoot_r");
sdm.body_segment[7].mass = 0.400000;
sdm.body_segment[7].inertia[0][0] = 0.001000;
sdm.body_segment[7].inertia[0][1] = 0.000000;
sdm.body_segment[7].inertia[0][2] = 0.000000;
sdm.body_segment[7].inertia[1][0] = 0.000000;
sdm.body_segment[7].inertia[1][1] = 0.001000;
sdm.body_segment[7].inertia[1][2] = 0.000000;
sdm.body_segment[7].inertia[2][0] = 0.000000;
sdm.body_segment[7].inertia[2][1] = 0.000000;
sdm.body_segment[7].inertia[2][2] = 0.001000;
sdm.body_segment[7].mass_center[0] = 0.025000;
sdm.body_segment[7].mass_center[1] = 0.015000;
sdm.body_segment[7].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[8].name,"toes_r");
sdm.body_segment[8].mass = 0.205800;
sdm.body_segment[8].inertia[0][0] = 0.001000;
sdm.body_segment[8].inertia[0][1] = 0.000000;
sdm.body_segment[8].inertia[0][2] = 0.000000;
sdm.body_segment[8].inertia[1][0] = 0.000000;
sdm.body_segment[8].inertia[1][1] = 0.001000;
sdm.body_segment[8].inertia[1][2] = 0.000000;
sdm.body_segment[8].inertia[2][0] = 0.000000;
sdm.body_segment[8].inertia[2][1] = 0.000000;
sdm.body_segment[8].inertia[2][2] = 0.001000;
sdm.body_segment[8].mass_center[0] = 0.034600;
sdm.body_segment[8].mass_center[1] = 0.006000;
sdm.body_segment[8].mass_center[2] = -0.017500;
mstrcpy(&sdm.body_segment[9].name,"femur_l");
sdm.body_segment[9].mass = 7.760000;
sdm.body_segment[9].inertia[0][0] = 0.137000;
sdm.body_segment[9].inertia[0][1] = 0.000000;
sdm.body_segment[9].inertia[0][2] = 0.000000;
sdm.body_segment[9].inertia[1][0] = 0.000000;
sdm.body_segment[9].inertia[1][1] = 0.031600;
sdm.body_segment[9].inertia[1][2] = 0.000000;
sdm.body_segment[9].inertia[2][0] = 0.000000;
sdm.body_segment[9].inertia[2][1] = 0.000000;
sdm.body_segment[9].inertia[2][2] = 0.137000;
sdm.body_segment[9].mass_center[0] = 0.000000;
sdm.body_segment[9].mass_center[1] = -0.170000;
sdm.body_segment[9].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[10].name,"tibia_l");
sdm.body_segment[10].mass = 3.030000;
sdm.body_segment[10].inertia[0][0] = 0.044400;
sdm.body_segment[10].inertia[0][1] = 0.000000;
sdm.body_segment[10].inertia[0][2] = 0.000000;
sdm.body_segment[10].inertia[1][0] = 0.000000;
sdm.body_segment[10].inertia[1][1] = 0.003830;
sdm.body_segment[10].inertia[1][2] = 0.000000;
sdm.body_segment[10].inertia[2][0] = 0.000000;
sdm.body_segment[10].inertia[2][1] = 0.000000;
sdm.body_segment[10].inertia[2][2] = 0.044500;
sdm.body_segment[10].mass_center[0] = 0.000000;
sdm.body_segment[10].mass_center[1] = -0.186700;
sdm.body_segment[10].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[11].name,"patella_l");
sdm.body_segment[11].mass = 0.100000;
sdm.body_segment[11].inertia[0][0] = 0.001000;
sdm.body_segment[11].inertia[0][1] = 0.000000;
sdm.body_segment[11].inertia[0][2] = 0.000000;
sdm.body_segment[11].inertia[1][0] = 0.000000;
sdm.body_segment[11].inertia[1][1] = 0.001000;
sdm.body_segment[11].inertia[1][2] = 0.000000;
sdm.body_segment[11].inertia[2][0] = 0.000000;
sdm.body_segment[11].inertia[2][1] = 0.000000;
sdm.body_segment[11].inertia[2][2] = 0.001000;
sdm.body_segment[11].mass_center[0] = 0.000000;
sdm.body_segment[11].mass_center[1] = 0.000000;
sdm.body_segment[11].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[12].name,"talus_l");
sdm.body_segment[12].mass = 0.100000;
sdm.body_segment[12].inertia[0][0] = 0.001000;
sdm.body_segment[12].inertia[0][1] = 0.000000;
sdm.body_segment[12].inertia[0][2] = 0.000000;
sdm.body_segment[12].inertia[1][0] = 0.000000;
sdm.body_segment[12].inertia[1][1] = 0.001000;
sdm.body_segment[12].inertia[1][2] = 0.000000;
sdm.body_segment[12].inertia[2][0] = 0.000000;
sdm.body_segment[12].inertia[2][1] = 0.000000;
sdm.body_segment[12].inertia[2][2] = 0.001000;
sdm.body_segment[12].mass_center[0] = 0.000000;
sdm.body_segment[12].mass_center[1] = 0.000000;
sdm.body_segment[12].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[13].name,"calcn_l");
sdm.body_segment[13].mass = 0.418300;
sdm.body_segment[13].inertia[0][0] = 0.001000;
sdm.body_segment[13].inertia[0][1] = 0.000000;
sdm.body_segment[13].inertia[0][2] = 0.000000;
sdm.body_segment[13].inertia[1][0] = 0.000000;
sdm.body_segment[13].inertia[1][1] = 0.001000;
sdm.body_segment[13].inertia[1][2] = 0.000000;
sdm.body_segment[13].inertia[2][0] = 0.000000;
sdm.body_segment[13].inertia[2][1] = 0.000000;
sdm.body_segment[13].inertia[2][2] = 0.001000;
sdm.body_segment[13].mass_center[0] = 0.025000;
sdm.body_segment[13].mass_center[1] = 0.015000;
sdm.body_segment[13].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[14].name,"midfoot_l");
sdm.body_segment[14].mass = 0.400000;
sdm.body_segment[14].inertia[0][0] = 0.001000;
sdm.body_segment[14].inertia[0][1] = 0.000000;
sdm.body_segment[14].inertia[0][2] = 0.000000;
sdm.body_segment[14].inertia[1][0] = 0.000000;
sdm.body_segment[14].inertia[1][1] = 0.001000;
sdm.body_segment[14].inertia[1][2] = 0.000000;
sdm.body_segment[14].inertia[2][0] = 0.000000;
sdm.body_segment[14].inertia[2][1] = 0.000000;
sdm.body_segment[14].inertia[2][2] = 0.001000;
sdm.body_segment[14].mass_center[0] = 0.025000;
sdm.body_segment[14].mass_center[1] = 0.015000;
sdm.body_segment[14].mass_center[2] = 0.000000;
mstrcpy(&sdm.body_segment[15].name,"toes_l");
sdm.body_segment[15].mass = 0.205800;
sdm.body_segment[15].inertia[0][0] = 0.001000;
sdm.body_segment[15].inertia[0][1] = 0.000000;
sdm.body_segment[15].inertia[0][2] = 0.000000;
sdm.body_segment[15].inertia[1][0] = 0.000000;
sdm.body_segment[15].inertia[1][1] = 0.001000;
sdm.body_segment[15].inertia[1][2] = 0.000000;
sdm.body_segment[15].inertia[2][0] = 0.000000;
sdm.body_segment[15].inertia[2][1] = 0.000000;
sdm.body_segment[15].inertia[2][2] = 0.001000;
sdm.body_segment[15].mass_center[0] = 0.034600;
sdm.body_segment[15].mass_center[1] = 0.006000;
sdm.body_segment[15].mass_center[2] = 0.017500;
}
void init_qs(void)
{
int i;
sdm.nq = 25;
sdm.nu = 25;
sdm.q = (QStruct*)simm_malloc(sdm.nq*sizeof(QStruct));
sdm.num_closed_loops = 0;
mstrcpy(&sdm.q[leg_tx].name,"leg_tx");
sdm.q[leg_tx].type = unconstrained_q;
sdm.q[leg_tx].joint = ground_pelvis;
sdm.q[leg_tx].axis = 0;
sdm.q[leg_tx].conversion = 1.00000;
sdm.q[leg_tx].initial_value = 0.00000;
sdm.q[leg_tx].range_start = -2.00000;
sdm.q[leg_tx].range_end = 4.00000;
sdm.q[leg_tx].restraint_func = NULL;
sdm.q[leg_tx].min_restraint_func = NULL;
sdm.q[leg_tx].max_restraint_func = NULL;
mstrcpy(&sdm.q[leg_ty].name,"leg_ty");
sdm.q[leg_ty].type = unconstrained_q;
sdm.q[leg_ty].joint = ground_pelvis;
sdm.q[leg_ty].axis = 1;
sdm.q[leg_ty].conversion = 1.00000;
sdm.q[leg_ty].initial_value = 0.91356;
sdm.q[leg_ty].range_start = 0.00000;
sdm.q[leg_ty].range_end = 2.00000;
sdm.q[leg_ty].restraint_func = NULL;
sdm.q[leg_ty].min_restraint_func = NULL;
sdm.q[leg_ty].max_restraint_func = NULL;
mstrcpy(&sdm.q[pelvis_rotation].name,"pelvis_rotation");
sdm.q[pelvis_rotation].type = unconstrained_q;
sdm.q[pelvis_rotation].joint = ground_pelvis;
sdm.q[pelvis_rotation].axis = 2;
sdm.q[pelvis_rotation].conversion = 57.29578;
sdm.q[pelvis_rotation].initial_value = -0.72068;
sdm.q[pelvis_rotation].range_start = -90.00000;
sdm.q[pelvis_rotation].range_end = 90.00000;
sdm.q[pelvis_rotation].restraint_func = NULL;
sdm.q[pelvis_rotation].min_restraint_func = &q_restraint_func[0];
sdm.q[pelvis_rotation].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[hip_angle_r].name,"hip_angle_r");
sdm.q[hip_angle_r].type = unconstrained_q;
sdm.q[hip_angle_r].joint = hip_r;
sdm.q[hip_angle_r].axis = 0;
sdm.q[hip_angle_r].conversion = 57.29578;
sdm.q[hip_angle_r].initial_value = 30.67604;
sdm.q[hip_angle_r].range_start = -40.00000;
sdm.q[hip_angle_r].range_end = 120.00000;
sdm.q[hip_angle_r].restraint_func = NULL;
sdm.q[hip_angle_r].min_restraint_func = &q_restraint_func[0];
sdm.q[hip_angle_r].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[knee_r_tx].name,"knee_r_tx");
sdm.q[knee_r_tx].type = constrained_q;
sdm.q[knee_r_tx].joint = knee_r;
sdm.q[knee_r_tx].axis = 0;
sdm.q[knee_r_tx].conversion = 1.00000;
sdm.q[knee_r_tx].initial_value = -0.00453;
sdm.q[knee_r_tx].range_start = -99999.9;
sdm.q[knee_r_tx].range_end = 99999.9;
sdm.q[knee_r_tx].restraint_func = NULL;
sdm.q[knee_r_tx].min_restraint_func = NULL;
sdm.q[knee_r_tx].max_restraint_func = NULL;
mstrcpy(&sdm.q[knee_r_ty].name,"knee_r_ty");
sdm.q[knee_r_ty].type = constrained_q;
sdm.q[knee_r_ty].joint = knee_r;
sdm.q[knee_r_ty].axis = 1;
sdm.q[knee_r_ty].conversion = 1.00000;
sdm.q[knee_r_ty].initial_value = -0.39618;
sdm.q[knee_r_ty].range_start = -99999.9;
sdm.q[knee_r_ty].range_end = 99999.9;
sdm.q[knee_r_ty].restraint_func = NULL;
sdm.q[knee_r_ty].min_restraint_func = NULL;
sdm.q[knee_r_ty].max_restraint_func = NULL;
mstrcpy(&sdm.q[knee_angle_r].name,"knee_angle_r");
sdm.q[knee_angle_r].type = unconstrained_q;
sdm.q[knee_angle_r].joint = knee_r;
sdm.q[knee_angle_r].axis = 2;
sdm.q[knee_angle_r].conversion = 57.29578;
sdm.q[knee_angle_r].initial_value = -4.21151;
sdm.q[knee_angle_r].range_start = -120.00000;
sdm.q[knee_angle_r].range_end = 5.00000;
sdm.q[knee_angle_r].restraint_func = NULL;
sdm.q[knee_angle_r].min_restraint_func = &q_restraint_func[0];
sdm.q[knee_angle_r].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[tib_pat_r_tx].name,"tib_pat_r_tx");
sdm.q[tib_pat_r_tx].type = constrained_q;
sdm.q[tib_pat_r_tx].joint = tib_pat_r;
sdm.q[tib_pat_r_tx].axis = 0;
sdm.q[tib_pat_r_tx].conversion = 1.00000;
sdm.q[tib_pat_r_tx].initial_value = 0.04921;
sdm.q[tib_pat_r_tx].range_start = -99999.9;
sdm.q[tib_pat_r_tx].range_end = 99999.9;
sdm.q[tib_pat_r_tx].restraint_func = NULL;
sdm.q[tib_pat_r_tx].min_restraint_func = NULL;
sdm.q[tib_pat_r_tx].max_restraint_func = NULL;
mstrcpy(&sdm.q[tib_pat_r_ty].name,"tib_pat_r_ty");
sdm.q[tib_pat_r_ty].type = constrained_q;
sdm.q[tib_pat_r_ty].joint = tib_pat_r;
sdm.q[tib_pat_r_ty].axis = 1;
sdm.q[tib_pat_r_ty].conversion = 1.00000;
sdm.q[tib_pat_r_ty].initial_value = -0.02256;
sdm.q[tib_pat_r_ty].range_start = -99999.9;
sdm.q[tib_pat_r_ty].range_end = 99999.9;
sdm.q[tib_pat_r_ty].restraint_func = NULL;
sdm.q[tib_pat_r_ty].min_restraint_func = NULL;
sdm.q[tib_pat_r_ty].max_restraint_func = NULL;
mstrcpy(&sdm.q[tib_pat_r_r3].name,"tib_pat_r_r3");
sdm.q[tib_pat_r_r3].type = constrained_q;
sdm.q[tib_pat_r_r3].joint = tib_pat_r;
sdm.q[tib_pat_r_r3].axis = 2;
sdm.q[tib_pat_r_r3].conversion = 57.29578;
sdm.q[tib_pat_r_r3].initial_value = 4.52253;
sdm.q[tib_pat_r_r3].range_start = -99999.9;
sdm.q[tib_pat_r_r3].range_end = 99999.9;
sdm.q[tib_pat_r_r3].restraint_func = NULL;
sdm.q[tib_pat_r_r3].min_restraint_func = NULL;
sdm.q[tib_pat_r_r3].max_restraint_func = NULL;
mstrcpy(&sdm.q[ankle_angle_r].name,"ankle_angle_r");
sdm.q[ankle_angle_r].type = unconstrained_q;
sdm.q[ankle_angle_r].joint = ankle_r;
sdm.q[ankle_angle_r].axis = 0;
sdm.q[ankle_angle_r].conversion = 57.29578;
sdm.q[ankle_angle_r].initial_value = 1.73984;
sdm.q[ankle_angle_r].range_start = -40.00000;
sdm.q[ankle_angle_r].range_end = 40.00000;
sdm.q[ankle_angle_r].restraint_func = NULL;
sdm.q[ankle_angle_r].min_restraint_func = &q_restraint_func[0];
sdm.q[ankle_angle_r].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[prescribed11].name,"prescribed11");
sdm.q[prescribed11].type = prescribed_q;
sdm.q[prescribed11].joint = subtalar_r;
sdm.q[prescribed11].axis = 0;
sdm.q[prescribed11].conversion = 57.29578;
sdm.q[prescribed11].initial_value = 0.00000;
sdm.q[prescribed11].range_start = -99999.9;
sdm.q[prescribed11].range_end = 99999.9;
sdm.q[prescribed11].restraint_func = NULL;
sdm.q[prescribed11].min_restraint_func = NULL;
sdm.q[prescribed11].max_restraint_func = NULL;
mstrcpy(&sdm.q[midfoot_angle_r].name,"midfoot_angle_r");
sdm.q[midfoot_angle_r].type = unconstrained_q;
sdm.q[midfoot_angle_r].joint = midfoot_r;
sdm.q[midfoot_angle_r].axis = 0;
sdm.q[midfoot_angle_r].conversion = 57.29578;
sdm.q[midfoot_angle_r].initial_value = 0.00000;
sdm.q[midfoot_angle_r].range_start = -60.00000;
sdm.q[midfoot_angle_r].range_end = 60.00000;
sdm.q[midfoot_angle_r].restraint_func = NULL;
sdm.q[midfoot_angle_r].min_restraint_func = &q_restraint_func[0];
sdm.q[midfoot_angle_r].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[mtp_angle_r].name,"mtp_angle_r");
sdm.q[mtp_angle_r].type = unconstrained_q;
sdm.q[mtp_angle_r].joint = mtp_r;
sdm.q[mtp_angle_r].axis = 0;
sdm.q[mtp_angle_r].conversion = 57.29578;
sdm.q[mtp_angle_r].initial_value = 0.00000;
sdm.q[mtp_angle_r].range_start = -60.00000;
sdm.q[mtp_angle_r].range_end = 60.00000;
sdm.q[mtp_angle_r].restraint_func = NULL;
sdm.q[mtp_angle_r].min_restraint_func = &q_restraint_func[0];
sdm.q[mtp_angle_r].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[hip_angle_l].name,"hip_angle_l");
sdm.q[hip_angle_l].type = unconstrained_q;
sdm.q[hip_angle_l].joint = hip_l;
sdm.q[hip_angle_l].axis = 0;
sdm.q[hip_angle_l].conversion = 57.29578;
sdm.q[hip_angle_l].initial_value = -20.39872;
sdm.q[hip_angle_l].range_start = -40.00000;
sdm.q[hip_angle_l].range_end = 120.00000;
sdm.q[hip_angle_l].restraint_func = NULL;
sdm.q[hip_angle_l].min_restraint_func = &q_restraint_func[0];
sdm.q[hip_angle_l].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[knee_l_tx].name,"knee_l_tx");
sdm.q[knee_l_tx].type = constrained_q;
sdm.q[knee_l_tx].joint = knee_l;
sdm.q[knee_l_tx].axis = 0;
sdm.q[knee_l_tx].conversion = 1.00000;
sdm.q[knee_l_tx].initial_value = -0.00260;
sdm.q[knee_l_tx].range_start = -99999.9;
sdm.q[knee_l_tx].range_end = 99999.9;
sdm.q[knee_l_tx].restraint_func = NULL;
sdm.q[knee_l_tx].min_restraint_func = NULL;
sdm.q[knee_l_tx].max_restraint_func = NULL;
mstrcpy(&sdm.q[knee_l_ty].name,"knee_l_ty");
sdm.q[knee_l_ty].type = constrained_q;
sdm.q[knee_l_ty].joint = knee_l;
sdm.q[knee_l_ty].axis = 1;
sdm.q[knee_l_ty].conversion = 1.00000;
sdm.q[knee_l_ty].initial_value = -0.39678;
sdm.q[knee_l_ty].range_start = -99999.9;
sdm.q[knee_l_ty].range_end = 99999.9;
sdm.q[knee_l_ty].restraint_func = NULL;
sdm.q[knee_l_ty].min_restraint_func = NULL;
sdm.q[knee_l_ty].max_restraint_func = NULL;
mstrcpy(&sdm.q[knee_angle_l].name,"knee_angle_l");
sdm.q[knee_angle_l].type = unconstrained_q;
sdm.q[knee_angle_l].joint = knee_l;
sdm.q[knee_angle_l].axis = 2;
sdm.q[knee_angle_l].conversion = 57.29578;
sdm.q[knee_angle_l].initial_value = -12.10386;
sdm.q[knee_angle_l].range_start = -120.00000;
sdm.q[knee_angle_l].range_end = 5.00000;
sdm.q[knee_angle_l].restraint_func = NULL;
sdm.q[knee_angle_l].min_restraint_func = &q_restraint_func[0];
sdm.q[knee_angle_l].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[tib_pat_l_tx].name,"tib_pat_l_tx");
sdm.q[tib_pat_l_tx].type = constrained_q;
sdm.q[tib_pat_l_tx].joint = tib_pat_l;
sdm.q[tib_pat_l_tx].axis = 0;
sdm.q[tib_pat_l_tx].conversion = 1.00000;
sdm.q[tib_pat_l_tx].initial_value = 0.04809;
sdm.q[tib_pat_l_tx].range_start = -99999.9;
sdm.q[tib_pat_l_tx].range_end = 99999.9;
sdm.q[tib_pat_l_tx].restraint_func = NULL;
sdm.q[tib_pat_l_tx].min_restraint_func = NULL;
sdm.q[tib_pat_l_tx].max_restraint_func = NULL;
mstrcpy(&sdm.q[tib_pat_l_ty].name,"tib_pat_l_ty");
sdm.q[tib_pat_l_ty].type = constrained_q;
sdm.q[tib_pat_l_ty].joint = tib_pat_l;
sdm.q[tib_pat_l_ty].axis = 1;
sdm.q[tib_pat_l_ty].conversion = 1.00000;
sdm.q[tib_pat_l_ty].initial_value = -0.02221;
sdm.q[tib_pat_l_ty].range_start = -99999.9;
sdm.q[tib_pat_l_ty].range_end = 99999.9;
sdm.q[tib_pat_l_ty].restraint_func = NULL;
sdm.q[tib_pat_l_ty].min_restraint_func = NULL;
sdm.q[tib_pat_l_ty].max_restraint_func = NULL;
mstrcpy(&sdm.q[tib_pat_l_r3].name,"tib_pat_l_r3");
sdm.q[tib_pat_l_r3].type = constrained_q;
sdm.q[tib_pat_l_r3].joint = tib_pat_l;
sdm.q[tib_pat_l_r3].axis = 2;
sdm.q[tib_pat_l_r3].conversion = 57.29578;
sdm.q[tib_pat_l_r3].initial_value = 10.40390;
sdm.q[tib_pat_l_r3].range_start = -99999.9;
sdm.q[tib_pat_l_r3].range_end = 99999.9;
sdm.q[tib_pat_l_r3].restraint_func = NULL;
sdm.q[tib_pat_l_r3].min_restraint_func = NULL;
sdm.q[tib_pat_l_r3].max_restraint_func = NULL;
mstrcpy(&sdm.q[ankle_angle_l].name,"ankle_angle_l");
sdm.q[ankle_angle_l].type = unconstrained_q;
sdm.q[ankle_angle_l].joint = ankle_l;
sdm.q[ankle_angle_l].axis = 0;
sdm.q[ankle_angle_l].conversion = 57.29578;
sdm.q[ankle_angle_l].initial_value = -0.90216;
sdm.q[ankle_angle_l].range_start = -40.00000;
sdm.q[ankle_angle_l].range_end = 40.00000;
sdm.q[ankle_angle_l].restraint_func = NULL;
sdm.q[ankle_angle_l].min_restraint_func = &q_restraint_func[0];
sdm.q[ankle_angle_l].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[prescribed22].name,"prescribed22");
sdm.q[prescribed22].type = prescribed_q;
sdm.q[prescribed22].joint = subtalar_l;
sdm.q[prescribed22].axis = 0;
sdm.q[prescribed22].conversion = 57.29578;
sdm.q[prescribed22].initial_value = 0.00000;
sdm.q[prescribed22].range_start = -99999.9;
sdm.q[prescribed22].range_end = 99999.9;
sdm.q[prescribed22].restraint_func = NULL;
sdm.q[prescribed22].min_restraint_func = NULL;
sdm.q[prescribed22].max_restraint_func = NULL;
mstrcpy(&sdm.q[midfoot_angle_l].name,"midfoot_angle_l");
sdm.q[midfoot_angle_l].type = unconstrained_q;
sdm.q[midfoot_angle_l].joint = midfoot_l;
sdm.q[midfoot_angle_l].axis = 0;
sdm.q[midfoot_angle_l].conversion = 57.29578;
sdm.q[midfoot_angle_l].initial_value = 0.00000;
sdm.q[midfoot_angle_l].range_start = -60.00000;
sdm.q[midfoot_angle_l].range_end = 60.00000;
sdm.q[midfoot_angle_l].restraint_func = NULL;
sdm.q[midfoot_angle_l].min_restraint_func = &q_restraint_func[0];
sdm.q[midfoot_angle_l].max_restraint_func = &q_restraint_func[0];
mstrcpy(&sdm.q[mtp_angle_l].name,"mtp_angle_l");
sdm.q[mtp_angle_l].type = unconstrained_q;
sdm.q[mtp_angle_l].joint = mtp_l;
sdm.q[mtp_angle_l].axis = 0;
sdm.q[mtp_angle_l].conversion = 57.29578;
sdm.q[mtp_angle_l].initial_value = 30.00000;
sdm.q[mtp_angle_l].range_start = -60.00000;
sdm.q[mtp_angle_l].range_end = 60.00000;
sdm.q[mtp_angle_l].restraint_func = NULL;
sdm.q[mtp_angle_l].min_restraint_func = &q_restraint_func[0];
sdm.q[mtp_angle_l].max_restraint_func = &q_restraint_func[0];
for (i=0, sdm.num_gencoords=0; i<sdm.nq; i++)
if (sdm.q[i].type == unconstrained_q)
sdm.num_gencoords++;
}
void initialize(void)
{
int i;
const char* p;
add_preprocessor_option(yes, "-I%s", get_preference("RESOURCES_FOLDER"));
root.numwindows = 0;
root.messages.line = NULL;
root.gldesc.max_screen_x = glutGet(GLUT_SCREEN_WIDTH);
if (root.gldesc.max_screen_x <= 0)
root.gldesc.max_screen_x = 1024;
root.gldesc.max_screen_y = glutGet(GLUT_SCREEN_HEIGHT);
if (root.gldesc.max_screen_y <= 0)
root.gldesc.max_screen_y = 768;
root.gldesc.max_screen_x -= 10;
root.gldesc.max_screen_y -= 30;
if (is_preference_on(get_preference("MULTIPLE_SCREENS")) == no)
glueSetConstrainedWindows(yes);
else
glueSetConstrainedWindows(no);
if (is_preference_on(get_preference("MULTIPLE_SCREENS")) == no)
open_main_window();
init_global_lighting();
if (make_selectors() == code_bad)
error(exit_program,tool_message);
/* Initialize some root structure variables */
root.nummodels = 0;
root.numplots = 0;
root.numtools = 0;
root.currentwindow = NO_WINDOW;
root.modelcount = 0;
root.confirm_window_open = no;
root.gfont.defaultfont = SIMM_DEFAULT_FONT;
root.gfont.largefont = SIMM_LARGE_FONT;
root.gfont.smallfont = SIMM_SMALL_FONT;
root.gfont.italics = SIMM_ITALIC_FONT;
root.gfont.bold = SIMM_BOLD_FONT;
/* Set all the plot pointers to NULL */
for (i=0; i<PLOTBUFFER; i++)
gPlot[i] = NULL;
/* Set all the model pointers to NULL */
for (i=0; i<MODELBUFFER; i++)
gModel[i] = NULL;
/* Set all the tool structures to unused */
for (i=0; i<TOOLBUFFER; i++)
{
tool[i].used = no;
tool[i].name = NULL;
}
/* Make the [initially empty] model menu */
root.modelmenu = -1;
root.plotmenu = -1;
root.gravityMenu = glueCreateMenu("Gravity");
glueAddMenuEntryWithValue(root.gravityMenu, " +X", smX);
glueAddMenuEntryWithValue(root.gravityMenu, " -X", smNegX);
glueAddMenuEntryWithValue(root.gravityMenu, " +Y", smY);
glueAddMenuEntryWithValue(root.gravityMenu, " -Y", smNegY);
glueAddMenuEntryWithValue(root.gravityMenu, " +Z", smZ);
glueAddMenuEntryWithValue(root.gravityMenu, " -Z", smNegZ);
glueAddMenuEntryWithValue(root.gravityMenu, "none", smNoAlign);
/* Init the command list */
root.num_commands = 0;
for (i=0; i<COMMAND_BUFFER; i++)
root.command[i] = NULL;
updatemodelmenu();
/* Call routines to make the color map */
init_color_database();
/* Make the confirm-action menu */
make_confirm_menu();
/* Malloc the SIMM event queue */
root.simm_event_queue = (SimmEvent*)simm_malloc(EVENT_QUEUE_SIZE*sizeof(SimmEvent));
if (root.simm_event_queue == NULL)
error(exit_program,tool_message);
root.event_queue_length = EVENT_QUEUE_SIZE;
root.events_in_queue = 0;
}
ReturnCode init_model_display(ModelStruct* ms)
{
int i;
ms->dis.motion_speed = DEFAULT_MOTION_SPEED;
ms->dis.default_view = 0; // the default camera will be cam0 unless overridden by user
ms->dis.show_highlighted_polygon = no;
ms->dis.show_selected_coords = no;
ms->dis.show_all_muscpts = no;
ms->dis.show_shadow = no;
ms->dis.applied_motion = NULL;
ms->dis.current_motion = NULL;
ms->dis.hpoly.segmentnum = -1;
ms->dis.hpoly.bonenum = -1;
ms->dis.hpoly.polynum = -1;
ms->dis.continuous_motion = no;
ms->dis.display_motion_info = yes;
ms->dis.devs = (int*)simm_malloc(ms->numgencoords*2*sizeof(int));
ms->dis.dev_values = (int*)simm_malloc(ms->numgencoords*2*sizeof(int));
if (ms->dis.devs == NULL || ms->dis.dev_values == NULL)
return code_bad;
for (i=0; i<ms->numgencoords; i++)
{
ms->dis.devs[i*2] = ms->gencoord[i]->keys[0];
ms->dis.devs[i*2+1] = ms->gencoord[i]->keys[1];
}
ms->dis.numdevs = ms->numgencoords*2;
ms->dis.nummuscleson = ms->nummuscles;
ms->dis.muscle_array_size = ms->muscle_array_size;
if (ms->dis.muscle_array_size > 0)
{
ms->dis.muscleson = (int*)simm_malloc(ms->dis.muscle_array_size*sizeof(int));
if (ms->dis.muscleson == NULL)
return code_bad;
}
ms->dis.muscle_cylinder_id = -1;
for (i=0; i<ms->dis.muscle_array_size; i++)
{
if (i < ms->nummuscles)
ms->dis.muscleson[i] = ms->muscle[i]->display;
else
ms->dis.muscleson[i] = 0;
}
for (i=0; i<COLUMNBUFFER; i++)
ms->dis.menucolumns[i] = EMPTY;
for (i=0; i<ms->numgroups; i++)
{
ms->dis.mgroup[i].state = off;
ms->dis.mgroup[i].xo = -1;
ms->dis.mgroup[i].yo = -1;
}
ms->dis.view_menu = 0;
ms->dis.maindrawmodemenu = 0;
ms->dis.allsegsdrawmodemenu = 0;
ms->dis.allligsdrawmodemenu = 0;
ms->dis.allworlddrawmodemenu = 0;
ms->dis.alldrawmodemenu = 0;
ms->dis.eachsegdrawmodemenu = 0;
#if ! ENGINE
ms->dis.display_motion_info = is_preference_on(get_preference("DISPLAY_MOTION_INFO"));
#endif
return code_fine;
}
/* INITMODEL: this guy initializes much of the model structure.
*/
ReturnCode init_model(ModelStruct* ms)
{
int i;
const char *p;
// ms->modelnum is preset; store it here so you can restore it after memset().
int model_number = ms->modelnum;
memset(ms, 0, sizeof(ModelStruct));
ms->modelnum = model_number;
ms->is_demo_model = no;
ms->useIK = yes;
ms->defaultGCApproved = yes;
ms->defaultLoopsOK = yes;
ms->defaultConstraintsOK = yes;
ms->constraintsOK = yes;
ms->loopsOK = yes;
ms->muscle_array_size = MUSCLE_ARRAY_INCREMENT;
ms->ligament_array_size = MUSCLE_ARRAY_INCREMENT;
ms->muscgroup_array_size = MUSCGROUP_ARRAY_INCREMENT;
ms->world_array_size = INIT_WORLD_ARRAY_SIZE;
ms->genc_array_size = GENC_ARRAY_INCREMENT;
ms->segment_array_size = SEGMENT_ARRAY_INCREMENT;
ms->joint_array_size = JOINT_ARRAY_INCREMENT;
ms->func_array_size = FUNC_ARRAY_INCREMENT;
ms->specified_min_thickness = yes;
ms->specified_max_thickness = yes;
ms->dynamics_ready = no;
ms->max_diagonal_needs_recalc = yes;
ms->GEFuncOK = no;
ms->marker_visibility = yes;
ms->marker_radius = DEFAULT_MARKER_RADIUS;
ms->loop_tolerance = DEFAULT_LOOP_TOLERANCE;
ms->loop_weight = DEFAULT_LOOP_WEIGHT;
ms->solver.accuracy = DEFAULT_SOLVER_ACCURACY;
ms->solver.method = smLevenbergMarquart;
ms->solver.max_iterations = 100;
ms->solver.joint_limits = smYes;
ms->solver.orient_body = smNo;
ms->solver.fg_contact = smNo;
ms->global_show_masscenter = no;
ms->global_show_inertia = no;
ms->gravity = smNegY;
ms->functionMenu = 0;
ms->motion_array_size = MOTION_ARRAY_INCREMENT;
ms->motion = (MotionSequence**)simm_malloc(ms->motion_array_size * sizeof(MotionSequence*));
if (ms->motion == NULL)
{
error(none,"Not enough memory to add another model.");
return code_bad;
}
else
{
for (i = 0; i < ms->motion_array_size; i++)
ms->motion[i] = NULL;
}
for (i=0; i<100; i++)
ms->motionfilename[i] = NULL;
ms->num_motion_files = 0;
ms->joint = (JointStruct*)simm_malloc(ms->joint_array_size*sizeof(JointStruct));
ms->segment = (SegmentStruct*)simm_malloc(ms->segment_array_size*sizeof(SegmentStruct));
ms->muscgroup = (MuscleGroup*)simm_malloc(ms->muscgroup_array_size*sizeof(MuscleGroup));
ms->seggroup = NULL;
ms->gencgroup = NULL;
ms->gencoord = (GeneralizedCoord**)simm_calloc(ms->genc_array_size, sizeof(GeneralizedCoord*));
ms->muscle = (dpMuscleStruct**)simm_calloc(ms->muscle_array_size, sizeof(dpMuscleStruct*));
ms->ligament = (LigamentStruct*)simm_malloc(ms->ligament_array_size*sizeof(LigamentStruct));
ms->function = (dpFunction**)simm_calloc(ms->func_array_size, sizeof(dpFunction*));
ms->save.function = (dpFunction**)simm_calloc(ms->func_array_size, sizeof(dpFunction*));
ms->worldobj = (WorldObject*)simm_malloc(ms->world_array_size*sizeof(WorldObject));
if (ms->joint == NULL || ms->segment == NULL || ms->muscgroup == NULL ||
ms->gencoord == NULL || ms->function == NULL ||
ms->save.function == NULL || ms->worldobj == NULL)
{
error(none,"Not enough memory to add another model.");
return code_bad;
}
ms->num_wrap_objects = 0;
ms->wrap_object_array_size = WRAP_OBJECT_ARRAY_INCREMENT;
ms->wrapobj = (dpWrapObject**)simm_malloc(ms->wrap_object_array_size*sizeof(dpWrapObject*));
if (ms->wrapobj == NULL)
{
error(none,"Not enough memory to add another wrap object.");
return code_bad;
}
// ms->constraint_tolerance = DEFAULT_CONSTRAINT_TOLERANCE;
ms->num_constraint_objects = 0;
ms->constraint_object_array_size = CONSTRAINT_OBJECT_ARRAY_INCREMENT;
ms->constraintobj = (ConstraintObject*)simm_malloc(ms->constraint_object_array_size*sizeof(ConstraintObject));
if (ms->constraintobj == NULL)
{
error(none,"Not enough memory to add another constraint.");
return code_bad;
}
ms->num_deformities = 0;
ms->deformity_array_size = DEFORMITY_ARRAY_INCREMENT;
ms->deformity = (Deformity*) simm_malloc(ms->deformity_array_size * sizeof(Deformity));
if (ms->deformity == NULL)
{
error(none,"Not enough memory to add another deformity object.");
return code_bad;
}
init_materials(ms);
ms->num_motion_objects = 0;
ms->motion_objects = NULL;
#if ! ENGINE || OPENSMAC
add_default_motion_objects(ms);
#endif
/* This part of the display structure must be initialized here because
* it can be changed when reading in the joints file, which happens before
* the display structure is initialized.
*/
ms->dis.num_file_views = 0;
// ms->dis.muscle_array_size = 0;//dkb = MUSCLE_ARRAY_INCREMENT;
ms->dis.muscle_array_size = MUSCLE_ARRAY_INCREMENT;
ms->dis.fast_muscle_drawing = no;
#if ! ENGINE
ms->dis.fast_muscle_drawing = is_preference_on(get_preference("FASTER_MUSCLE_DRAWING"));
#if INCLUDE_MSL_LENGTH_COLOR
ms->dis.muscle_color_factor = 0.0;
#endif
for (i=0; i<MAXSAVEDVIEWS; i++)
{
ms->dis.view_used[i] = no;
ms->dis.view_name[i] = NULL;
}
for (i=0; i<3; i++)
{
ms->dis.background_color[i] = 0.2f;
ms->dis.vertex_label_color[i] = 0.0f;
ms->dis.rotation_axes_color[i] = 1.0f;
ms->dis.crosshairs_color[i] = 1.0f;
}
ms->dis.rotation_axes_color[2] = 0.0f;
ms->dis.vertex_label_color[0] = 1.0f;
ms->dis.background_color_spec = no;
ms->dis.vertex_label_color_spec = no;
ms->dis.rotation_axes_color_spec = no;
ms->dis.crosshairs_color_spec = no;
ms->modelLock = glutNewMutex();
ms->realtimeState = rtNotConnected;
#endif /* ENGINE */
ms->gencoordmenu = -1;
ms->gencoordmenu2 = -1;
ms->gencoord_group_menu = -1;
ms->xvarmenu = -1;
ms->momentgencmenu = -1;
ms->momentarmgencmenu = -1;
ms->momentarmnumgencmenu = -1;
ms->maxmomentgencmenu = -1;
return code_fine;
}
void make_message_port(void)
{
IntBox bbox;
HelpStruct* hp;
int windex;
WindowParams mwin;
WinUnion wun;
SBoolean iconified;
hp = &root.messages;
hp->lines_per_page = 10;
hp->window_width = 750;
hp->window_height = 10*HELP_WINDOW_TEXT_Y_SPACING + 4;
hp->line = (TextLine*)simm_malloc(100*sizeof(TextLine));
if (hp->line == NULL)
error(exit_program,tool_message);
hp->num_lines_malloced = 100;
hp->num_lines = 0;
hp->starting_line = 0;
hp->background_color = HELP_WINDOW_BACKGROUND;
bbox.x2 = hp->window_width;
bbox.x1 = bbox.x2 - 20;
bbox.y2 = hp->window_height;
bbox.y1 = 0;
make_slider(&hp->sl,vertical_slider,bbox,0,(double)(hp->num_lines)*20.0,
(double)(hp->lines_per_page)*20.0,(double)(hp->num_lines)*20.0,4.0,NULL,NULL);
glueSetWindowPlacement(GLUT_NORMAL_WINDOW, GLUE_SOUTHWEST,
hp->window_width, hp->window_height,
0, 0, NULL);
#if defined WIN32 && SIMM_DEMO_VERSION
iconified = is_in_demo_mode();
#else
iconified = no;
#endif
mwin.id = hp->window_id = glueOpenWindow("simmmess",iconified,GLUE_TOOL_WINDOW);
glueSetWindowMinSize(500,100);
mstrcpy(&mwin.name,"SIMM Messages");
glutSetIconTitle("Messages");
glutSetWindowTitle(mwin.name);
wun.tool = NULL;
windex = add_window(&mwin,&wun,NOTYPE,ZERO,no,draw_message_window,
update_message_window,messages_input);
if (windex == -1)
error(exit_program,tool_message);
glutSetWindowData(mwin.id, windex);
if (expirationMessage)
{
error(none, expirationMessage);
FREE_IFNOTNULL(expirationMessage);
}
}
ReturnCode makegencform(ModelStruct* ms)
{
int i, name_len;
Form* form;
CheckBoxPanel* check;
form = &ms->gencform;
form->numoptions = ms->numgencoords;
form->selected_item = -1;
form->cursor_position = 0;
form->highlight_start = 0;
form->title = NULL;
ms->longest_genc_name = 0;
form->option = (FormItem*)simm_malloc(form->numoptions*sizeof(FormItem));
if (form->option == NULL)
return code_bad;
for (i=0; i<form->numoptions; i++)
{
form->option[i].justify = yes;
form->option[i].active = yes;
form->option[i].visible = yes;
form->option[i].editable = yes;
form->option[i].use_alternate_colors = no;
form->option[i].decimal_places = 3;
form->option[i].data = NULL;
mstrcpy(&form->option[i].name, ms->gencoord[i]->name);
name_len = glueGetStringWidth(root.gfont.defaultfont, ms->gencoord[i]->name);
if (name_len > ms->longest_genc_name)
ms->longest_genc_name = name_len;
SET_BOX1221(form->option[i].box,0,75,-FORM_FIELD_YSPACING*i,
form->option[i].box.y2-FORM_FIELD_HEIGHT);
}
/* make the gencoord checkbox panel */
check = &ms->gc_chpanel;
check->title = "C";
check->type = normal_checkbox;
check->numoptions = ms->numgencoords;
check->checkbox = (CheckBox*)simm_malloc(check->numoptions*sizeof(CheckBox));
if (check->checkbox == NULL)
error(exit_program,tool_message);
for (i=0; i<check->numoptions; i++)
{
check->checkbox[i].just = right;
check->checkbox[i].active = yes;
check->checkbox[i].visible = yes;
if (ms->gencoord[i]->clamped == no)
check->checkbox[i].state = off;
else
check->checkbox[i].state = on;
check->checkbox[i].name = NULL;
check->checkbox[i].box.x1 = form->option[i].box.x1;
check->checkbox[i].box.x2 = check->checkbox[i].box.x1 + CHECKBOX_XSIZE*2/3;
check->checkbox[i].box.y1 = form->option[i].box.y1;
check->checkbox[i].box.y2 = check->checkbox[i].box.y1 + CHECKBOX_YSIZE*2/3;
check->checkbox[i].use_alternate_colors = no;
}
/* make the gencoord lock checkbox panel */
check = &ms->gc_lockPanel;
check->title = "L"; //NULL;
check->type = normal_checkbox;
check->numoptions = ms->numgencoords;
check->checkbox = (CheckBox*)simm_malloc(check->numoptions*sizeof(CheckBox));
if (check->checkbox == NULL)
error(exit_program,tool_message);
for (i=0; i<check->numoptions; i++)
{
check->checkbox[i].just = right;
check->checkbox[i].active = yes;
check->checkbox[i].visible = yes;
if (ms->gencoord[i]->locked == no)
check->checkbox[i].state = off;
else
check->checkbox[i].state = on;
check->checkbox[i].name = NULL;
check->checkbox[i].box.x1 = form->option[i].box.x1;
check->checkbox[i].box.x2 = check->checkbox[i].box.x1 + CHECKBOX_XSIZE*2/3;
check->checkbox[i].box.y1 = form->option[i].box.y1;
check->checkbox[i].box.y2 = check->checkbox[i].box.y1 + CHECKBOX_YSIZE*2/3;
}
return code_fine;
}
