#============================================================*
#                   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 0.5 0 ]  axis = [ 0 1 0 ]

solid c1  color = [ 1 1 0 ]  display = line

solid create name = c2  type = cylinder  radius = 0.2  length = 1.0 \
             center = [ 0 1.5 0 ]  axis = [ 0 1 0 ]
solid c2  color = [ 1 0 1 ]  display = line

# create bodies
#--------------
body create  name = ground    type = ground
body create  name = c1b type = rigid  solid = c1
body create  name = c2b type = rigid  solid = c2


# create joints
#--------------
joint create  name = jnt1  type = weld  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 }

joint create  name = jnt2  type = hinge cylinder = c2  distance = 0.0 \
              axis = [ 0 0 1 ]
joint jnt2 color = [ 0 1 0 ] msize = 0.1 shading = flat show = true
joint jnt2 bodies = { c1b c2b }



# 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 torsional spring
#---------------------
body c1b  add potential = cyl12Tpot1  type = torsion           \
     origin = [ 0 1 0 ]  point1 = [0 0.5 0] point2 = [0.2 0.5 0]   \
     force_const = 100.0                                           \
     color = [ 0.6 0.6 0.6 ]  width = 2.0  show = true

body c2b  add potential = cyl12Tpot2  type = torsion          \
     point1 = [0 1.5 0]  point2 = [0.2 1.5 0]  force_const = 100.0   \
     color = [ 1 0.6 0.6 ]  width = 2.0   show = false

simulation rsim add interaction = cyl12Tint          \
           body1 = c1b  potential1 = cyl12Tpot1 \
           body2 = c2b  potential2 = cyl12Tpot2 \
           time = { 0 10000 }


# add forces
#-----------
force create  name = force1          \
              type = explicit        \
              point = [ 0 0.5 0 ]    \
              direction = [ 1 0 0 ]  \
              scale = 1.0

simulation rsim add force = force1    \
                    body = c2b  \
                    time = { 0 1.0 }

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


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


graphics  center  point = [0.196045 1.36253 0.0197997]