#--------------------------------------------------------------#
#                 create a rigid simulation                    #
#--------------------------------------------------------------#

simulation create name = rsim  type = rigid

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


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

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

#simulation rsim add force = force1    \
                    body = d2b       \
                    time = { 0 1000 }

force create  name = force2          \
              type = explicit        \
              point = [ 0 0 0 ]      \
              global_frame = true    \
              direction = [ 0 -0.2 0 ]  \
              scale = 1.0

#simulation rsim add force = force2    \
                    body = kcPtBody4 \
                    time = { 0 1000 }

force create name = rforce1        \
             type = random        \
             mean = 0.0           \
             sd = 1.0           \
             seed = 147321        \
             scale = 0.1

#simulation rsim add force = rforce1    \
                    body = kcPtBody4 \
                    time = { 0 1000 }




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

simulation rsim time step = 0.001