#============================================================*
#                     test mass spring with spheres          *
#============================================================*

system echo = off
system verbose = false


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

# create two spheres
#-------------------
solid create  name = sp1  type = sphere radius = 0.4 center = [ 0.0 0.0 0.0 ] 
solid create  name = sp2  type = sphere radius = 0.4  center = [ 2.0 0.0 0.0 ] 
solid create  name = sp3  type = sphere radius = 0.4  center = [ 4.0 0.0 0.0 ] 


# create bodies
#--------------
body create  name = ground    type = ground
body create  name = sp1b  type = static solid = sp1
body create  name = sp2b  type = rigid  solid = sp2
body create  name = sp3b  type = static solid = sp3

body sp2b   damping = 0.1 


#----- ground joint -----#
joint create  name = groundJnt  type = ball  solid = sp1  
joint groundJnt color = [ 1 1 1 ] msize = 0.08 shading = color show = true
joint groundJnt bodies = { ground sp1b }

joint create  name = groundJnt1  type = ball  solid = sp3  
joint groundJnt1 color = [ 1 1 1 ] msize = 0.08 shading = color show = true
joint groundJnt1 bodies = { ground sp3b }


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

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


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


# add potential 
#--------------
solid  sp1  define region = sp1Rgn   use_center = true
solid  sp2  define region = sp2Rgn   use_center = true

body sp1b  add potential = sp1Pot type = spring  region = sp1Rgn  \
               geometry = points  color = [ 0 1 0 ]               \
               force_const = 1.0  cutoff = 2.8   show = true 

body sp2b  add potential = sp2Pot  type = spring  region = sp2Rgn  \
               geometry = points   color = [ 0 1 0 ]               \
               force_const = 1.0   cutoff = 2.8   show = true 

simulation rsim add interaction = sp1Sp2Pot          \
                    body1 = sp1b potential1 = sp1Pot \
                    body2 = sp2b potential2 = sp2Pot \
                    time = { 0.0 1000.0 }


# 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 = sp2b   time = { 0 1.0 }


# add restraint
#--------------
#solid sp2  define  region = sp2Rgn  use_center = true
#solid sp3  define  region = sp3Rgn  use_center = true

#simulation rsim add restraint = res1                     \
                    body1 = sp2b  region1 = sp2Rgn       \
                    body2 = sp3b  region2 = sp3Rgn       \
                    ramp = 10                            \
                    force_const = 40.0  distance = 0.99  \
                    time = { 0 10 }



# initialize simulation
#----------------------
simulation rsim initialize
simulation rsim time step = 0.005
#simulation  state  save_frequency = 10

simulation rsim momentum = on
#simulation rsim damping = on


# write energy 
#-------------
simulation  rsim  write  energy = true  file_name = rsim
simulation  rsim  write  kinetic_energy = true  file_name = rsim_ke


# print body masses
#------------------
#body  sp1b  print  properties = mass
body  sp2b  print  properties = mass