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msm/ShoulderModel_rTSA/MODEL_MAIN_FILE.m
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MODEL_MAIN_FILE.m
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%{
--------------------------------------------------------------------------
GUI FOR RUNNING THE MODEL
--------------------------------------------------------------------------
File Description:
This is the main file for running the EPFL shoulder model.
creates the GUI and loads all the raw anatomical data. The data contains
the following :
1) BLDATA : Bony landmark data
2) MEDATA : Bone Meshing data for plotting purposes
3) MWDATA : Muscle Origin/Insertion & Wrapping data
4) REDATA : Ribcage Ellipsoid data
5) JCDATA : Joint sinus cone data (which Ehsan has deactivated)
6) KEDATA : Kinematic Motion data
7) DYDATA : Dynamics data. Contains all static parameters
Moment arms, Muscle forces, and Joint reaction forces are not initially
available. They are computed on demand. They will be stored in the
following structures:
8) MADATA : Muscle Moment Arms
9) EFDATA : Estimated Muscle Forces
10) JFDATA : Joint Reaction Forces
--------------------------------------------------------------------------
File Structure :
This file creates the primary GUI. On the main GUI only visulisation
options can be changed. Access to all the different parts of the model is
done by pushbuttons which open other sub-GUI's. The pushbuttons are
created using MATLAB's uicontrol handle structures. When a button is
pushed, the callback script is executed. These scripts are generated by
the function MAIN_TOOL_script_generator.m.
Files associated to sub-GUI's are designated with the word 'TOOL' in
their title. The main file of each sub-GUI is defined by
..._TOOL_main_file.m
Each tool has certain functions which are unique to that tool. Such files
are designated by
..._TOOL_function_name.m
All the files for each tool are located in a sub-folder. Access to these
folders is granted when the main file is run. This is done straight after
the masthead script.
--------------------------------------------------------------------------
Contents of the Interactive GUI structure :
PushButton Section
MAINGUIHandle.Close_Button
MAINGUIHandle.Save_Visualisation_Button
MAINGUIHandle.Save_Data_Button
Visualisation Update Section
MAINGUIHandle.VisFrame
MAINGUIHandle.VisTitle
MAINGUIHandle.VisMuscleOption
MAINGUIHandle.VisJointSinusConeOption
MAINGUIHandle.VisEllipsoidOption
MAINGUIHandle.Update_Visualisation_Button
ToolBox Push Buttons
MAINGUIHandle.ToolTitle
MAINGUIHandle.InitialPosition_Tool_Button
MAINGUIHandle.Muscle_Tool_Button
MAINGUIHandle.Sinus_Cone_Tool_Button
MAINGUIHandle.Ellipsoid_Tool_Button
MAINGUIHandle.Kinematics_Tool_Button
MAINGUIHandle.Check_Motion_Button
MAINGUIHandle.Check_MA_Button
MAINGUIHandle.Estimate_Forces_Button
--------------------------------------------------------------------------
The graphical hierarchy is :
MAINHandle
-> MAINVisualisationAxes
-> PlotHandles
--------------------------------------------------------------------------
WARNING : THIS FILE IS LOCATED IN THE PRIMARY FOLDER.
IF YOU SWITCH LOCATIONS (FOLDER) WHILE THE GUI IS RUNNING AND DO NOT
SWITCH BACK TO THE PRIMARY FOLDER, MATLAB WILL THROW AN ERROR. IF THIS
HAPPENS, IT IS NOT NECESSARY TO RESTART. YOU ONLY NEED TO SWITCH BACK TO
THE PRIMARY FOLDER.
--------------------------------------------------------------------------
%}
% Clean Workspace
clc; clear all; %close all;
% Run a MASTHEAD script. (Set to 0 to turn off)
MastHeadOn = 1;
if MastHeadOn
MASTHEAD_script;
end
%--------------------------------------------------------------------------
% GRANT ACCESS TO ALL SUBFOLDERS
%--------------------------------------------------------------------------
CurrentPath = pwd;
SubFolderList = {'INITIALISATION_Dataset',...
'TOOLBOX_Initial_Configuration',...
'TOOLBOX_Ribcage_Ellipsoid',...
'TOOLBOX_Subject_Specific',...
'TOOLBOX_Muscle_Geometry',...
'TOOLBOX_Kinematics',...
'TOOLBOX_Moment_Arms',...
'TOOLBOX_Force_Estimation',...
'Visualisation_Functions',...
'Visualisation_Original_Meshings',...
'EMG_based_muscle_force'};
for i = 1:size(SubFolderList,2)
% Differentiate between UNIX and non-UNIX systems
if isunix
addpath([CurrentPath, '/', SubFolderList{1,i}]);
else
addpath([CurrentPath, '\', SubFolderList{1,i}]);
end
end
%--------------------------------------------------------------------------
% CREATE THE FIGURE & PUSHBUTTON FOR CLOSING GUI.
%--------------------------------------------------------------------------
MAINHandle = figure(...
'color', 'white',...
'units', 'normalized',...
'position', [0, 0, 0.5, 1],...
'toolbar', 'figure',...
'name', 'EPFL - LBO Upper Extremity Model MAIN GUI.');
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% LIST OF TOOLBOX PUSHBUTTONS
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% Frame
MAINGUIHandle.PBFrame = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.64, 0.3, 0.32],...
'style', 'frame',...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Title
MAINGUIHandle.ToolTitle = uicontrol(...
'units', 'normalized',...
'position', [0.8, 0.95, 0.1, 0.02],...
'style', 'text',...
'string', 'List of Toolboxes',...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Push Button for opening the Subject Specific Toolbox
MAINGUIHandle.Subject_Specific_Tool_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.90, 0.3, 0.05],...
'style', 'pushbutton',...
'max', 2,...
'string', '<html> <b>- SUBJECT SPECIFIC TOOL -----------------------------</b><br><p style="font-size: 90%;"> <i> Tool for adapting the generic model to a specific subject</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Open Subject Specific Tool'));
% Push Button for opening the muscle wrapping toolbox
MAINGUIHandle.Muscle_Tool_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.85, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html> <b>- MUSCLE WRAPPING TOOL ---------------------------------</b><br><p style="font-size: 90%;"> <i> Tool for defining the muscle segement structure</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Open Muscle Tool'));
% Push Button for opening the Initial Position toolbox
MAINGUIHandle.InitialPosition_Tool_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.80, 0.3, 0.05],...
'style', 'pushbutton',...
'max', 2,...
'string', '<html> <b>- JOINT INITIALIZATION TOOL -----------------------------</b><br><p style="font-size: 90%;"> <i> Tool for setting the initial configuration of the joints</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Open Initial Configuration Tool'));
%{
Push Button for opening the joint sinus cone toolbox
MAINGUIHandle.Sinus_Cone_Tool_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.8, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html> <b>- JOINT SINUS CONE TOOL ----------------------------------</b><br><p style="font-size: 90%;"> <i> Tool for setting the configuration of the joint sinus cones</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Open Joint Tool'));
%}
%%%%%%%%%%%%%%%% having discussed with Alex, I moved this part to the
%%%%%%%%%%%%%%%% subject-specific window
% % Push Button for opening the ellipsoid toolbox
% MAINGUIHandle.Ellipsoid_Tool_Button = uicontrol(...
% 'units', 'normalized',...
% 'position', [0.7, 0.80, 0.3, 0.05],...
% 'style', 'pushbutton',...
% 'string', '<html> <b>- RIBCAGE ELLIPSOID TOOL --------------------------------</b><br><p style="font-size: 90%;"> <i> Tool for setting the ribcage ellipsoid</i></p>',...
% 'fontsize', 14,...
% 'callback', MAIN_TOOL_script_generator('Open Ellipsoid Tool'));
% Push Button for opening the kinematics toolbox
MAINGUIHandle.Kinematics_Tool_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.75, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html> <b>- KINEMATICS TOOL -------------------------------------------</b><br><p style="font-size: 90%;"> <i> Tool for designing the kinematics</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Open Kinematics Tool'));
% Push Button for checking the moment arms
MAINGUIHandle.Check_MA_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.70, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html> <b>- CHECK INDIVIDUAL MOMENT ARMS ---------------------</b><br><p style="font-size: 90%;"> <i>Tool for checking that the moment arms are continuous</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Check Moment Arms'));
% Push Button for force estimation
MAINGUIHandle.Estimate_Forces_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.65, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html> <b>- ESTIMATE FORCES ------------------------------------------</b><br><p style="font-size: 90%;"> <i>Tool for estimating the muscle forces</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Estimate Forces'));
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% VISUALISATION INTERFACE (RADIOBUTTONS)
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% Frame
MAINGUIHandle.VisFrame = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.19, 0.3, 0.35],...
'style', 'frame',...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Title
MAINGUIHandle.VisTitle = uicontrol(...
'units', 'normalized',...
'position', [0.79, 0.52, 0.13, 0.03],...
'style', 'text',...
'string', 'Visualization Options',...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Clavicula Visibility Option
MAINGUIHandle.VisClaviculaOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.5, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Clavicula',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Scapula Visibility Option
MAINGUIHandle.VisScapulaOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.47, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Scapula',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Humerus Visibility Option
MAINGUIHandle.VisHumerusOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.44, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Humerus',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Ulna Visibility Option
MAINGUIHandle.VisUlnaOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.41, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Ulna',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Radius Visibility Option
MAINGUIHandle.VisRadiusOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.38, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Radius',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Muscle Visibility Option
MAINGUIHandle.VisMuscleOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.35, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Muscles',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Muscle Origins Visibility Option
MAINGUIHandle.VisMuscleOOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.32, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Muscle Origins',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Muscle Insertions Visibility Option
MAINGUIHandle.VisMuscleIOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.29, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Muscle Insertions',...
'Value', 1,...5
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
%{
Joint Sinus Cone Visibility Option
MAINGUIHandle.VisJointSinusConeOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.24, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Joint Sinus Cones',...
'Value', 0,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
%}
% Ribcage Ellipsoid Visibility Option
MAINGUIHandle.VisEllipsoidOption = uicontrol(...
'units', 'normalized',...
'position', [0.72, 0.26, 0.2, 0.02],...
'style', 'radiobutton',...
'string', 'View Ribcage Ellipsoid',...
'Value', 1,...
'fontsize', 14,...
'backgroundcolor', 'white',...
'fontweight', 'bold');
% Push Button for Updating the Visualisation
MAINGUIHandle.Update_Visualisation_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.20, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html><b>- UPDATE VISUALIZATION ---------------------------------------</b><br><p style="font-size: 90%;"> <i> Updates the visualization</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Update Visualisation'));
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% SAVE DATA & VISUALISATION PUSHBUTTONS
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% Push Button for Saving the Visualisation
MAINGUIHandle.Save_Visualisation_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.1, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html><b>- SAVE VISUALISATION ----------------------------------------</b><br><p style="font-size: 90%;"> <i> Saves the visualization to an EPS file</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Save Visualisation'));
% Push Button for Saving the Visualisation
MAINGUIHandle.Save_Data_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.05, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html><b>- SAVE DATA ---------------------------------------------------------</b><br><p style="font-size: 90%;"> <i> Saves the current data structures</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Save All Data Structures'));
% Push Button for Closing the GUI
MAINGUIHandle.Close_GUI_Button = uicontrol(...
'units', 'normalized',...
'position', [0.7, 0.0, 0.3, 0.05],...
'style', 'pushbutton',...
'string', '<html><b>- CLOSE GUI ---------------------------------------------------------</b><br><p style="font-size: 90%;"><i>Closes and saves the current data structures</i></p>',...
'fontsize', 14,...
'callback', MAIN_TOOL_script_generator('Save & Close'));
% Create a Help UI Menu
MAINGUIHandle.Help(1,1) = uimenu(MAINHandle,...
'label', 'MAIN GUI HELP');
% Create a Help UI Menu
MAINGUIHandle.Help(2,1) = uimenu(MAINGUIHandle.Help(1,1),...
'label', 'About?',...
'callback', MAIN_TOOL_script_generator('Help'));
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% INITIALISATION SCRIPT: BUILD THE INITIAL DATA STRUCTURES
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% Display a message to inform the user that something is happening
disp('Building the model data, please wait ...');
SSDATA = [];
% Create Bony Landmark Data
BLDATA = MAIN_INITIALISATION_build_data_bony_landmark();
% Create Bony Meshing Data
MEDATA = MAIN_INITIALISATION_build_data_3D_meshing();
% Create Ribcage Ellipsoid Data (ATTENTION : DATA HAS NOT BEEN OPTIMISED!!)
REDATA = MAIN_INITIALISATION_build_data_ribcage_ellipsoid(BLDATA);
% Create Muscle Wrapping Data
MWDATA = MAIN_INITIALISATION_build_data_muscle_wrapping(BLDATA);
%MWDATA = MAIN_INITIALISATION_build_data_muscle_wrapping_new(BLDATA);
%MWDATA = MAIN_INITIALISATION_build_data_muscle_wrapping_old(BLDATA);
% Create Joint Sinus Cone Data
%JCDATA = MAIN_INITIALISATION_build_data_joint_sinus_cone();
% Create the Kinematics Data
KEDATA = MAIN_INITIALISATION_build_data_kinematics(REDATA, BLDATA);
% Creat the Dynamics Data (This function takes time, builds and saves
% symbolic equations)
DYDATA = MAIN_INITIALISATION_build_data_dynamics(REDATA, BLDATA);
% Display a message to inform the user that the model is ready to be used
disp('The model has been constructed, ...');
% Initialise the MADATA structure
MADATA = cell(42, 1);
% Each element in the cell will contain an Nx15 matrix
for MuscleId = 1:42
MADATA{MuscleId, 1}.MomentArms = cell(1,20);
MADATA{MuscleId, 1}.MomentArmsNum = cell(1,20);
MADATA{MuscleId, 1}.FDirection = cell(1,20);
MADATA{MuscleId, 1}.ScapularPlane_GnP = cell(1,20);
MADATA{MuscleId, 1}.ScapularPlane = cell(1,20);
for SegmentId = 1:20
MADATA{MuscleId, 1}.MomentArms{1,SegmentId} = zeros(size(KEDATA.Joint_Angle_Evolution,2),15);
MADATA{MuscleId, 1}.MomentArmsNum{1,SegmentId} = zeros(size(KEDATA.Joint_Angle_Evolution,2),15);
MADATA{MuscleId, 1}.FDirection{1,SegmentId} = zeros(size(KEDATA.Joint_Angle_Evolution,2),15);
MADATA{MuscleId, 1}.MuscleLength(:,SegmentId) = zeros(size(KEDATA.Joint_Angle_Evolution,2),1);
MADATA{MuscleId, 1}.ScapularPlane_GnP{1,SegmentId} = zeros(size(KEDATA.Joint_Angle_Evolution,2),15);
MADATA{MuscleId, 1}.ScapularPlane {1,SegmentId} = zeros(size(KEDATA.Joint_Angle_Evolution,2),15);
end
end
% Initialise the EFDATA structure
% Initialise the output
EFDATA = cell(44,1); % we have 42 muscles plus two consraint forces at TS and AI
JRDATA = zeros(size(KEDATA.Joint_Angle_Evolution,2),7); % Contains vector and intensity
% Each element in the cell will contain a 9 x N matrix
for MuscleId = 1:44
EFDATA{MuscleId, 1}.MomentArms = cell(1,20);
for SegmentId = 1:20
EFDATA{MuscleId, 1}.Forces(:,SegmentId) = zeros(size(KEDATA.Joint_Angle_Evolution,2),1);
EFDATA{MuscleId, 1}.MomentArms{1,SegmentId} = zeros(size(KEDATA.Joint_Angle_Evolution,2),9);
end
end
% Clear the Masthead data if Masthead is turned on
if MastHeadOn
clear MainAxis EPFLAxis LBOAxis CHUVAxis; % LAAxis
clear TextList PositionList TextHandle;
clear EPFLLogo LBOLogo MAINPic CHUVLogo; % LALogo
clear CurrentDirectory LogoHandle;
set(0, 'currentfigure', MASThead);
close gcf;
else
end
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% INITIALISATION OF THE VISUALISATION
%--------------------------------------------------------------------------
%--------------------------------------------------------------------------
% Create the visualisation
MAINVisualisationAxes = axes(...
'units', 'normalized',...
'position', [0.1, 0.05, 0.6, 0.9]);
% Set the current axis (this is not necessary but ensures MATLAB is doing
% the right thing)
set(MAINHandle, 'currentaxes', MAINVisualisationAxes); hold on;
% Create the 3-D Meshing Visualisations
PlotHandles.MeshHandle(1) = VISUALISATION_view_bone_meshing([], MEDATA, 0, BLDATA);
PlotHandles.MeshHandle(2) = VISUALISATION_view_bone_meshing([], MEDATA, 1, BLDATA);
PlotHandles.MeshHandle(3) = VISUALISATION_view_bone_meshing([], MEDATA, 2, BLDATA);
PlotHandles.MeshHandle(4) = VISUALISATION_view_bone_meshing([], MEDATA, 3, BLDATA);
PlotHandles.MeshHandle(5) = VISUALISATION_view_bone_meshing([], MEDATA, 4, BLDATA);
PlotHandles.MeshHandle(6) = VISUALISATION_view_bone_meshing([], MEDATA, 5, BLDATA);
PlotHandles.MeshHandle(7) = VISUALISATION_view_bone_meshing([], MEDATA, 6, BLDATA);
% Create the 3-D Wire Frame Visualisations
PlotHandles.WireFrameHandle(1) = VISUALISATION_view_bone_wireframe([], 0, BLDATA);
PlotHandles.WireFrameHandle(2) = VISUALISATION_view_bone_wireframe([], 1, BLDATA);
PlotHandles.WireFrameHandle(3) = VISUALISATION_view_bone_wireframe([], 2, BLDATA);
PlotHandles.WireFrameHandle(4) = VISUALISATION_view_bone_wireframe([], 3, BLDATA);
PlotHandles.WireFrameHandle(5) = VISUALISATION_view_bone_wireframe([], 4, BLDATA);
PlotHandles.WireFrameHandle(6) = VISUALISATION_view_bone_wireframe([], 5, BLDATA);
% Create the 3-D Muscle elements
for MuscleId = 1:42
% Origin & Insertion
PlotHandles.MuscleOriginHandle(MuscleId) = VISUALISATION_view_muscle_origins([], MWDATA, BLDATA, MuscleId);
PlotHandles.MuscleInsertionHandle(MuscleId) = VISUALISATION_view_muscle_insertions([], MWDATA, BLDATA, MuscleId);
% Muscle Segements
for SegmentId = 1:20
% Only one segment per muscle to start.
if SegmentId > 1
PlotHandles.MuscleSegments(MuscleId, SegmentId) = plot3(0, 0, 0,...
'color', 'red', 'linewidth', 2, 'marker', 'o', 'markerfacecolor', 'red', 'markersize', 6);
else
PlotHandles.MuscleSegments(MuscleId, SegmentId) = VISUALISATION_view_muscle_segement([], MWDATA, BLDATA, MuscleId, SegmentId);
end
end
end
% Initialise the Joint Sinus Cone Visualisations
%PlotHandles.JointSinusCone(1,1) = surf(zeros(2,2), zeros(2,2), zeros(2,2));
%PlotHandles.JointSinusCone(1,2) = surf(zeros(2,2), zeros(2,2), zeros(2,2));
%PlotHandles.JointSinusCone(1,3) = surf(zeros(2,2), zeros(2,2), zeros(2,2));
% Initialise the Ribcage Ellipsoid Visualisation
PlotHandles.Ellispoid = surf(zeros(2,2), zeros(2,2), zeros(2,2));
%--------------------------------------------------------------------------
% SET THE APPEARANCE OF THE VISUALISATION
%--------------------------------------------------------------------------
% Set some lights to help visualise the model
light('Position',[ 1, 0, 0],'Style','infinite');
light('Position',[ 0, 0, -10],'Style','local');
light('Position',[10, -50, 0],'Style','infinite');
colormap copper; % Give the bone meshings a bone color.
box on; % Turn the axes box on. It makes is easier to keep track of the orientation.
material dull; % Define the bone meshing material. It removes the shiny effect.
axis equal; % Correct the apsect ratio.
zoom(1); % Zoom in on the visualisation. otherwise it looks very small.
view([135, 25]); % Setup the initial camera postion [0,0] is behind horizontally.
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