#============================================================*
#             test surface rigid simulation                  *
#============================================================*

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

# read surfaces
#--------------
surface read  name = camA   format = pm  file = camA_surf.pm 
surface camA  xform translation = [ -1.12146 -0.254134 -3.19202 ]
surface camA  color = [ 1 0 0]  display = solid show 
#surface camA  color = [ 1 0 0]  display = line  show 

surface read  name = camB   format = pm  file = camB_surf.pm 
surface camB  xform translation = [ -1.12146 -0.254134 -3.19202 ]
surface camB  color = [ 0 1 0]  display = line  show 


# create bodies  
#--------------
body create  name = ground     type = ground
body create  name = camA_body  type = rigid   surface = camA 
body create  name = camB_body  type = rigid   surface = camB 

# create joints 
#--------------
joint create  name = jnt1   type = ball   position = [ 0 0 0 ] 
joint jnt1 bodies = { ground camA_body }
joint jnt1 color = [ 1 1 0 ] msize = 0.1 shading = color show = true

joint create  name = jnt2   type = ball   position = [ 1.09755 3.29329 -1.68415 ] 
joint jnt2 bodies = { camA_body camB_body }
joint jnt2 color = [ 0 1 1 ] msize = 0.1 shading = color show = true

#  create a course-grained model  
#-------------------------------
model create name = model_1

# add joints
#-----------
model model_1 add joint = jnt1
model model_1 add joint = jnt2

# add bodies
#-----------
model model_1 add body = ground    
model model_1 add body = camA_body
model model_1 add body = camB_body

#model model_1 joints msize = 0.5 show = true
#model model_1 bodies msize = 0.5 show = true


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

# add bodies
#-----------
simulation rsim add body = ground
simulation rsim add body = camA_body 
simulation rsim add body = camB_body 

# add joints
#-----------
simulation rsim add joint = jnt1
simulation rsim add joint = jnt2

# 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 = [ 10 0 0 ]  \
             scale = 1.0

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

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


# step simulation
#----------------
#simulation rsim step = 200

graphics  background  color = [ 1 1 1 ]