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feat: Ab layer improvement (#47)
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* default BM_TRUNK_EXPERIMENTAL_INTER_LAYER_L5PELVIC ON
Maybe we should remove the BM later.

* Add joint nodes for pelvis layers

* Make Joint nodes references in layers and pelvic layers

* Fix bug LocalReferenceFrame to be joint nodes instead of Origin
and remove extra measure from LayerConstraintsPelvic.any

* Update Weights in averaging measure handling layers
Now we can play with the weights since we have correct LocalReferenceFrame in the averaging measures.
This commit has some lines for making references for pelvic layer joint nodes.

* Disable both Inter_Layers (bottom and top)

---------

Co-authored-by: hs <[email protected]>
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@Hamedshayestehpour
Hamedshayestehpour and hs authored Jan 31, 2025
1 parent 8c93576 commit d72f2a6
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Showing 9 changed files with 31 additions and 26 deletions.
16 changes: 11 additions & 5 deletions Body/AAUHuman/Trunk/Abdominal/AbdominalPressureModel.any
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@

#define PELVIC_LAYER_MOVES
#define RECTUS_MUSCLE_LINE_CONTROL
#define INTER_LAYER_L1RIBCAGE
//#define INTER_LAYER_L1RIBCAGE

/// The abdominal model consists of a series of layers with individual volumes and pressure muscles
AnyFolder Abdominal = {
Expand Down Expand Up @@ -508,8 +508,8 @@ AnyFolder Abdominal = {
#include "Layer.any"

AnyFolder LayerConstraints ={
AnyVar K_top =2;
AnyVar K_bot =1;
AnyVar K_top =1;
AnyVar K_bot =10;


#ifdef RECTUS_MUSCLE_LINE_CONTROL
Expand Down Expand Up @@ -766,7 +766,7 @@ AnyFolder Abdominal = {


AnyFolder Layer_Pelvic1 = {
AnyVar K_top =1;
AnyVar K_top =10;
AnyVar K_bot =1;

AnyFolder &Data = ...Trunk.Data.unscaled.ModelParameters.Abdominal.Layer_L5;
Expand All @@ -776,7 +776,9 @@ AnyFolder Abdominal = {

BaseSegPosterior = {
AnyRefNode Layer1 = {ARel = .AnatomicalFrameTrunk.ARel;};
AnyRefNode &JntNode1 = ....Trunk.Segments.PelvisSeg.PelvicLayer1_JntNode;
};
AnyRefNode &JntNodeRef = BaseSegPosterior.JntNode1;
AnyRefNode &LayerRef = BaseSegPosterior.Layer1;
#if BM_TRUNK_EXPERIMENTAL_INTER_LAYER_L5PELVIC == OFF
AnyFolder &layer_above = .Layer_L5;
Expand Down Expand Up @@ -815,8 +817,10 @@ AnyFolder Abdominal = {
AnyFolder &Data =...Trunk.Data.unscaled.ModelParameters.Abdominal.Layer_Pelvic2;
AnySeg &BaseSegPosterior = .Layer_Pelvic1.BaseSegPosterior;
BaseSegPosterior ={
AnyRefNode Layer2 = {ARel = .AnatomicalFrameTrunk.ARel;};
AnyRefNode Layer2 = {ARel = .AnatomicalFrameTrunk.ARel;};
AnyRefNode &JntNode2 = ....Trunk.Segments.PelvisSeg.PelvicLayer2_JntNode;
};
AnyRefNode &JntNodeRef = BaseSegPosterior.JntNode2;
AnyRefNode &LayerRef = BaseSegPosterior.Layer2;
AnyFolder &layer_above = .Layer_Pelvic1;
AnyFolder &layer_below = .Layer_Pelvic3;
Expand All @@ -834,7 +838,9 @@ AnyFolder Abdominal = {
AnySeg &BaseSegPosterior = .Layer_Pelvic1.BaseSegPosterior;
BaseSegPosterior ={
AnyRefNode Layer3 = {ARel = .AnatomicalFrameTrunk.ARel;};
AnyRefNode &JntNode3 = ....Trunk.Segments.PelvisSeg.PelvicLayer3_JntNode;
};
AnyRefNode &JntNodeRef = BaseSegPosterior.JntNode3;
AnyRefNode &LayerRef = BaseSegPosterior.Layer3;
AnyFolder &layer_above = .Layer_Pelvic2;
AnyFolder &layer_below = .Layer_Pelvic4;
Expand Down
1 change: 1 addition & 0 deletions Body/AAUHuman/Trunk/Abdominal/InterLayer_L1Ribcage.any
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Expand Up @@ -37,6 +37,7 @@ AnyFolder Inter_Layer_L1Ribcage = {
};
};
AnyRefNode Xiphoid_Diaphragm = {sRel = ...Diaphragm.CavitySeg.Xiphoid_Diaphragm.sRel;};
AnyRefNode &BaseSegPosterior_JntNode = ..Layer_L1.BaseSegPosterior.JntNode;
};

AnyFolder &Data =...Trunk.Data.unscaled.ModelParameters.Abdominal.Layer_L1;
Expand Down
1 change: 1 addition & 0 deletions Body/AAUHuman/Trunk/Abdominal/InterLayer_PelvicL5.any
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Expand Up @@ -40,6 +40,7 @@ AnyFolder Inter_Layer_PelvisL5 = {
};

};
AnyRefNode &BaseSegPosterior_JntNode = ..Layer_L5.BaseSegPosterior.JntNode;
};


Expand Down
1 change: 1 addition & 0 deletions Body/AAUHuman/Trunk/Abdominal/Layer.any
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Expand Up @@ -136,6 +136,7 @@ AnySeg BaseSegAnterior = {
AnyVec3 unscaled = 0.5 * (..Data.AbdominalCavityPoints.Right.Parametric.Fun(1.0) + ..Data.AbdominalCavityPoints.Left.Parametric.Fun(1.0));
sRel = ..ScaleAndProjectToLayer(unscaled);
};
AnyRefNode &BaseSegPosterior_JntNode = .BaseSegPosterior.JntNode;
AnyRefNode rectus2R ={sRel= ..ScaleAndProjectToLayer(.mid.unscaled + {0,0,0.2*0.2});}; //front right
AnyRefNode rectus2L ={sRel= ..ScaleAndProjectToLayer(.mid.unscaled + {0,0,-0.2*0.2});}; //front right

Expand Down
3 changes: 2 additions & 1 deletion Body/AAUHuman/Trunk/Abdominal/LayerConstraints.any
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Expand Up @@ -281,7 +281,8 @@ AnyFolder SpringMeasures = {

AnyKinEq RotationConstraint = {
RigidBodyAverageMeasure CombinationMeasure(ROTATIONAL=On, LINEAR=On,POWER =3) = {
LocalReferenceFrame = &...BaseSegAnterior.Origin;

LocalReferenceFrame = &...BaseSegAnterior.BaseSegPosterior_JntNode;
InputMeasures = {
&..SpringMeasures.Top.M1,
&..SpringMeasures.Top.M2,
Expand Down
18 changes: 3 additions & 15 deletions Body/AAUHuman/Trunk/Abdominal/LayerConstraintsPelvic.any
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Expand Up @@ -136,17 +136,7 @@ AnyFolder LayerConstraints ={

};



AnyKinLinear PelvicLayer_BaseSegAnterior = {
AnyRefNode &ref1 = ...LayerRef;
AnyRefFrame &ref2 = ...BaseSegAnterior.JntNode;
Ref=0; //AnyDrawPLine drw ={Thickness=0.0025;};
};






};

Expand All @@ -155,7 +145,7 @@ AnyFolder LayerConstraints ={

AnyKinEq RotationConstraint = {
RigidBodyAverageMeasure CombinationMeasure(ROTATIONAL=On, LINEAR=On) = {
LocalReferenceFrame = &...BaseSegAnterior.Origin;
LocalReferenceFrame = &...BaseSegAnterior.JntNode;
InputMeasures = {
&..SpringMeasures.Top.M1,
&..SpringMeasures.Top.M2,
Expand All @@ -181,13 +171,11 @@ AnyFolder LayerConstraints ={
&..SpringMeasures.Bot.M10,
&..SpringMeasures.Bot.M11,
&..SpringMeasures.Bot.M12,

&..SpringMeasures.PelvicLayer_BaseSegAnterior


};
WeightCoefficients = {...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,...K_top,
...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,...K_bot,
1
};
};
Reaction.Type = repmat(nDim, On); //Note this is on becuase there are no muscles to carry this DOF
Expand Down
10 changes: 5 additions & 5 deletions Body/AAUHuman/Trunk/Abdominal/Pelvic_Layer.any
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Expand Up @@ -39,7 +39,7 @@ AnySeg BaseSegAnterior={
r0 = .BaseSegPosterior.r0;
Axes0 = .BaseSegPosterior.Axes0;
AnyRefNode Origin = {};
AnyRefNode JntNode = {sRel = ..LayerRef.sRel;};
AnyRefNode JntNode = {sRel=..JntNodeRef.sRel;};

CavityPoints VolumePoints(data=..Data.AbdominalCavityPoints, scale_fun=..ScaleAndProjectToLayer) = {
Right.points_generator = {
Expand Down Expand Up @@ -126,7 +126,7 @@ flip(LayerRef.VolumePoints.Left.NodePointers)
#ifndef PELVIC_LAYER_MOVES

AnyStdJoint PelvicLayer_BaseSegAnterior = {
AnyRefNode &ref1 = .LayerRef;
AnyRefNode &ref1 = .JntNodeRef;
AnyRefFrame &ref2 = .BaseSegAnterior.JntNode;
};

Expand All @@ -142,7 +142,7 @@ AnyStdJoint PelvicLayer_BaseSegAnterior = {
#ifndef RECTUS_MUSCLE_LINE_CONTROL

AnyRevoluteJoint PelvicLayer_BaseSegAnterior = {
AnyRefNode &ref1 = .LayerRef;
AnyRefNode &ref1 = .JntNodeRef;
AnyRefFrame &ref2 = .BaseSegAnterior.JntNode;
Axis=z;
};
Expand All @@ -151,13 +151,13 @@ AnyRevoluteJoint PelvicLayer_BaseSegAnterior = {
AnyKinEq PelvicLayer_BaseSegAnterior_Constraints ={
AnyKinMeasureOrg dof={
AnyKinLinear lin ={
AnyRefNode &ref1 = ...LayerRef;
AnyRefNode &ref1 = ...JntNodeRef;
AnyRefFrame &ref2 = ...BaseSegAnterior.JntNode;
Ref=0;
};

AnyKinRotational rot ={
AnyRefNode &ref1 = ...LayerRef;
AnyRefNode &ref1 = ...JntNodeRef;
AnyRefFrame &ref2 = ...BaseSegAnterior.JntNode;
Type=RotAxesAngles;
};
Expand Down
3 changes: 3 additions & 0 deletions Body/AAUHuman/Trunk/PelvisSeg.any
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Expand Up @@ -272,6 +272,9 @@ AnySeg PelvisSeg = {
AnyRefNode GroundPelvisJntNode = {sRel = .Scale(.Data.GroundPelvisJntNode_pos);};
AnyRefNode PelvisSacrumJntNode = {sRel = .Scale(.Data.PelvisSacrumJntNode_pos);};
AnyRefNode Seat2MidContactNode={sRel=0.5*(.Right.Seat2ContactNode.sRel+.Left.Seat2ContactNode.sRel);};
AnyRefNode PelvicLayer1_JntNode={sRel=.Scale(.Data.PelvicLayer1_JntNode_pos);};
AnyRefNode PelvicLayer2_JntNode={sRel=.Scale(.Data.PelvicLayer2_JntNode_pos);};
AnyRefNode PelvicLayer3_JntNode={sRel=.Scale(.Data.PelvicLayer3_JntNode_pos);};

/// The Right node is used by different body part for adding mirrored nodes
/// (muscle origins/insertions etc) to the pelvis segment
Expand Down
4 changes: 4 additions & 0 deletions Body/AAUHuman/Trunk/TrunkData1.1/LumbarNodes.any
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Expand Up @@ -53,6 +53,10 @@ AnyFolder Pelvis = {
AnyFloat RibConstraintsPelvisNodeR_pos = {0.035000, 0.1, 0.1};
AnyFloat RibConstraintsPelvisNodeL_pos = {0.035000, 0.1, -0.1};

AnyFloat PelvicLayer1_JntNode_pos = {0.00212704, -0.01660388, 0.0};
AnyFloat PelvicLayer2_JntNode_pos = {0.00212704, -0.04607247, 0.0};
AnyFloat PelvicLayer3_JntNode_pos = {0.00212704, -0.08536393, 0.0};

#if BM_TRUNK_CAVITY_MODEL == _CAVITY_MODEL_VOLUME_
AnyFloat BuckleNodeBottomCenter_pos =0.5*(Right.BuckleNode_pos+Left.BuckleNode_pos);
#else
Expand Down

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