#============================================================#
# test torsion spring on two cyls                            #
#============================================================#
system echo = off
system verbose = false

# 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

solid create name = c3  type = cylinder  radius = 0.2  length = 1.0 \
             center = [ 0 2.5 0 ]  axis = [ 0 1 0 ]
solid c3  color = [ 0 1 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
body create  name = c3b type = rigid  solid = c3


# 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 = 0.05 shading = flat show = true
joint jnt1 bodies = { ground c1b }

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

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


# 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
#---------------------
#variable k = 0 
variable k = 10 

#--- 1,2 ---
body c1b  add potential = cyl12Tpot1  type = torsion               \
     origin = [ 0 1 0 ]  point1 = [0 0.5 0] point2 = [0.2 0.5 0]   \
     force_const = ${k}                                            \
     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 = ${k}  \
     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 }

#--- 2,3 ---
body c2b  add potential = cyl23Tpot1  type = torsion               \
     origin = [ 0 2 0 ]  point1 = [0 1.5 0] point2 = [0.2 1.5 0]   \
     force_const = ${k}                                            \
     color = [ 0.6 0.6 0.6 ]  width = 2.0  show = true

body c3b  add potential = cyl23Tpot2  type = torsion               \
     point1 = [0 2.5 0]  point2 = [0.2 2.5 0]  force_const = ${k}  \
     color = [ 1 0.6 0.6 ]  width = 2.0   show = false

simulation rsim add interaction = cyl23Tint          \
           body1 = c2b  potential1 = cyl23Tpot1 \
           body2 = c3b  potential2 = cyl23Tpot2 \
           time = { 0 10000 }


# add forces
#-----------
variable pt = [ 0.2 0.5 0 ] 
variable dir = [ 2 0 0 ] 

#variable pt = [ 0 0.5 0 ] 
#variable dir = [ 0.1 0 0 ] 

force create  name = force1          \
              type = explicit        \
              point = ${pt}          \
              direction = ${dir}     \
              scale = 1.0

simulation rsim add force = force1    \
                    body = c3b        \
                    time = { 0 1.0 }

simulation rsim add trace name = trace1    \
                    point = [ 0 0.5 0 ]    \
                    body = c3b 


# initialize simulation
#----------------------
simulation rsim initialize
simulation rsim time step = 0.005

simulation rsim damping = on     
body c1b  damping = 0.1
body c2b  damping = 0.1
body c3b  damping = 0.1

graphics  center  point = [0.196045 1.36253 0.0197997]