#============================================================*
#                   test chain of cyls                       *
#============================================================*

# set units
units
#units scale  name = mass   uname = reducedMass   value = 10000.0


# create cylinder
#----------------
solid create name = c1 type = cylinder radius = 0.2 length = 1.0 center = [ 2 0 0 ] \
             axis = [ 0 1 0 ]
solid create name = c2 type = cylinder radius = 0.2 length = 1.0 center = [ 2 1 0 ] \
             axis = [ 0 1 0 ]  color = [ 1 1 0 ]
solid create name = c3 type = cylinder radius = 0.2 length = 1.0 center = [ 2 2 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c4 type = cylinder radius = 0.2 length = 1.0 center = [ 2 3 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c5 type = cylinder radius = 0.2 length = 1.0 center = [ 2 4 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c6 type = cylinder radius = 0.2 length = 1.0 center = [ 2 5 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c7 type = cylinder radius = 0.2 length = 1.0 center = [ 2 6 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c8 type = cylinder radius = 0.2 length = 1.0 center = [ 2 7 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c9 type = cylinder radius = 0.2 length = 1.0 center = [ 2 8 0 ] \
             axis = [ 0 1 0 ]  color = [ 0 1 0 ]
solid create name = c10 type = cylinder radius = 0.2 length = 1.0 center = [ 2 9 0 ] \
             axis = [ 0 1 0 ]  color = [ 1 1 0 ]

#----------------


# create bodies
#--------------
body create  name = ground    type = ground
body create  name = c1b type = rigid  solid = c1
body create  name = c2b type = rigid  solid = c2
body create  name = c3b type = rigid  solid = c3
body create  name = c4b type = rigid  solid = c4
body create  name = c5b type = rigid  solid = c5
body create  name = c6b type = rigid  solid = c6
body create  name = c7b type = rigid  solid = c7
body create  name = c8b type = rigid  solid = c8
body create  name = c9b type = rigid  solid = c9
body create  name = c10b type = rigid  solid = c10


# create joints
#--------------
joint create  name = jnt1  type = weld cylinder = c1  distance = 0.0
#joint create  name = jnt1  type = ball  cylinder = c1  distance = 0.0
joint jnt1 color = [ 1 1 1 ] msize = 0.1 shading = color show = true
joint jnt1 bodies = { ground c1b }

joint create  name = jnt2  type = hinge  cylinder = c2 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt2 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt2 bodies = { c1b c2b }

joint create  name = jnt3  type = hinge  cylinder = c3 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt3 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt3 bodies = { c2b c3b }

joint create  name = jnt4  type = hinge  cylinder = c4 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt4 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt4 bodies = { c3b c4b }

joint create  name = jnt5  type = hinge  cylinder = c5 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt5 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt5 bodies = { c4b c5b }

joint create  name = jnt6  type = hinge  cylinder = c6 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt6 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt6 bodies = { c5b c6b }

joint create  name = jnt7  type = hinge  cylinder = c7 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt7 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt7 bodies = { c6b c7b }

joint create  name = jnt8  type = hinge  cylinder = c8 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt8 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt8 bodies = { c7b c8b }

joint create  name = jnt9  type = hinge  cylinder = c9 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt9 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt9 bodies = { c8b c9b }

joint create  name = jnt10 type = hinge  cylinder = c10 axis = [ 0 0 1 ]  \
              distance = 0.0
joint jnt10 color = [ 1 0 0 ] msize = 0.05 shading = flat show = true
joint jnt10 bodies = { c9b c10b }

#--------------------------------



# create a rigid simulation
#--------------------------
simulation create name = rsim  type = rigid

# set solver
#-----------
simulation rsim solver = ode
#simulation rsim solver finite_rotation = on
simulation rsim momentum = on

# add bodies
#-----------
simulation rsim add bodies = all 


# add joints
#-----------
simulation rsim add joints = all 


# add forces
#-----------
force create  name = force1           \
              type = explicit         \
              point = [ 0 0 0 ]       \
              direction = [ 1 0 0 ]  \
              scale = 1.0

simulation rsim add force = force1    \
                    body = c10b  \
                    time = { 0 100.0 }

# initialize simulation
#----------------------
simulation rsim initialize