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msm/ShoulderModel_HHT/generalized_force_4_portugease.m
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generalized_force_4_portugease.m
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function Q = generalized_force_4_portugease(Dir_inT,Rho_inT,F_final,Dir_contact,Rho_contact,F_contact,u)
%{
Function for defining the generalized forces at time t of the integration
for the contact model addopted from Portugease's paper.
--------------------------------------------------------------------------
Syntax :
Q = generalized_force_4_portugease(Dir_inT,Rho_inT,F_final,Dir_contact,Rho_contact,F_contact,u)
--------------------------------------------------------------------------
Function Description :
Given that the humeral head is considered as a point in the portugease
contact model, the contact forces do not have any effect on the rotational
generalized forces (moments). Therefore, this function is developed to
take this simplification into account.
--------------------------------------------------------------------------
%}
F_resultant = zeros(3,1); % initialize the resultant of forces
M_resultant = zeros(3,1); % initialize the resultant of moments
% define the resultant force and momemnts at/around HH by the muscles
for j = 1:size(F_final,2)
F_resultant = F_final(j)*Dir_inT(:,j) + F_resultant;
M_resultant = cross(Rho_inT(:,j),F_final(j)*Dir_inT(:,j)) + M_resultant;
end
% consider the contact forces
F_resultant = F_contact*Dir_contact + F_resultant;
% calculate the generalized coordinates at time t of the integration
e = versatile_function('define partial velocities matrix',u); % define the partial velocities matrix
Q = [zeros(3); eye(3)]*(F_resultant + [0 0 -0]') + [e; zeros(3)]*M_resultant;
return;
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