#============================================================*
#                   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 = [ 0 1 0 ]  axis = [ 0 1 0 ]

# create bodies
#--------------
body create  name = ground    type = ground
body create  name = c1b type = rigid  solid = c1


# create joints
#--------------
joint create  name = jnt1  type = hinge cylinder = c1  distance = 0.0 \
              axis = [ 0 0 1 ]
#joint create  name = jnt1  type = ball  cylinder = c1  distance = 0.0
joint jnt1 color = [ 1 0 0 ] msize = 0.1 shading = flat show = true
joint jnt1 bodies = { ground c1b }

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

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

# set solver
#-----------
simulation rsim solver = ode
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 0.5 0 ]       \
              direction = [ 0.1 0 0 ]  \
              scale = 1.0

simulation rsim add force = force1    \
                    body = c1b  \
                    time = { 0 1.0 }

force create  name = force2           \
              type = explicit         \
              point = [ 0 0.5 0 ]       \
              direction = [ 0 0 10 ]  \
              scale = 1.0

simulation rsim add force = force2    \
                    body = c1b  \
                    time = { 0 10000.0 }

simulation rsim add trace name = trace1         \
                    point = [ 0 0.5 0 ]    \
                    body = c1b 


# initialize simulation
#----------------------
simulation rsim initialize
simulation rsim time step = 0.03