/*
 * $Header: /var/cvs/mbdyn/mbdyn/mbdyn-web/documentation/examples/privdataoutput,v 1.2 2008/11/05 21:02:01 masarati Exp $
 *
 * MBDyn 1.2
 *
 * Plot the relative angle and angular velocity of a revolute joint
 *
 * Pierangelo Masarati <pierangelo.masarati at polimi.it>
 */

begin: data;
	problem: initial value;
end: data;

begin: initial value;
	initial time: 0.;
	final time: 1.;
	time step: 1.e-3;	

	tolerance: 1.e-6;
	max iterations: 10;

	method: ms, .6;

	derivatives coefficient: 1.e-9;
end: initial value;

begin: control data;
	structural nodes: 2;
	parameter nodes: 2;
	joints: 2;
	rigid bodies: 1;
	forces: 1;
end: control data;

begin: nodes;
	structural: 1, static,
		null,
		eye,
		null,
		null;
	structural: 2, dynamic,
		null,
		eye,
		null,
		null;
	parameter: 11, /* bound to */ element;
	parameter: 12, /* bound to */ element;
end: nodes;

begin: elements;
	# node 1 is clamped
	joint: 1, clamp, 1, node, node;
	# node 2 is connected to node 1 by a revolute
	joint: 2, revolute hinge,
		1, null,
		2, null;
	# the relative rotation (in rad) and the relativr velocity (in rad/s)
	# of the revolute are bound to parameters 11 and 12; their output
	# is available in file ".prm"
	bind: 2, joint, 11, name, "rz";
	bind: 2, joint, 12, name, "wz";
	# body 2 inertia
	body: 2, 2, 1., null, eye;
	# a constant couple uniformly accelerates body 2 about axis 3
	couple: 2, follower, 2, 0.,0.,1., const, 100.;
end: elements;