/*
 * $Header: /var/cvs/mbdyn/mbdyn/mbdyn-web/documentation/examples/rotationalspring,v 1.4 2009/07/04 17:36:08 masarati Exp $
 *
 * Rotational Spring System
 *
 * Author: Roger Polston
 */

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

begin: initial value;
	initial time: 0.;
	final time: 10.;
	time step: 1.e-2;

	max iterations: 10;
	tolerance: 1.e-6;
	method: crank nicholson;
	# method: bdf;
end: initial value;

begin: control data;
	structural nodes: 
		+1    # Ground
		+1    # Pendulum_1
		+1    # Pendulum_2
		+1    # Pendulum_3
	;
	rigid bodies:
		+1    # Pendulum_1
		+1    # Pendulum_2
		+1    # Pendulum_3
	;
	joints:
		+1    # Ground clamp
		+1    # Pendulum_1 revolute hinge
		+1    # Pendulum_2 revolute pin
		+2    # Pendulum_3 revolute hinge + deformable hinge
	;
	forces:
		+1    # Pendulum_1 linear rotational spring via couple
		+1    # Pendulum_2 linear rotational spring via couple
	;
end: control data;

set: integer PIVOT = 1;
set: integer GROUND = 1000;
set: integer PENDULUM_1 = 2000;
set: integer PENDULUM_2 = 3000;
set: integer PENDULUM_3 = 4000;
set: real M = 1.;
set: real J = 1.;
set: real K = 100.;
set: real Vel0 = .2;

reference: PIVOT,
	reference, global, null,
	reference, global, eye,
	reference, global, null,
	reference, global, 0., 0., Vel0;

begin: nodes;
	structural: GROUND, static,
		reference, global, null,
		reference, global, eye,
		reference, global, null,
		reference, global, null,
		output, no;

	structural: PENDULUM_1, dynamic, 
		reference, PIVOT, null, 
		reference, PIVOT, eye, 
		reference, PIVOT, null, 
		reference, PIVOT, null;

	structural: PENDULUM_2, dynamic, 
		reference, PIVOT, null, 
		reference, PIVOT, eye, 
		reference, PIVOT, null, 
		reference, PIVOT, null;

	structural: PENDULUM_3, dynamic, 
		reference, PIVOT, null, 
		reference, PIVOT, eye, 
		reference, PIVOT, null, 
		reference, PIVOT, null;
end: nodes;

begin: elements;
	joint: GROUND, clamp, GROUND,
		position, node,
		orientation, node;

	body: PENDULUM_1, PENDULUM_1, 
		M,
		reference, PIVOT, null,
		reference, PIVOT, diag, J, J, J;
	joint: PENDULUM_1, revolute hinge,
		GROUND, 
		reference, PIVOT, null,
		hinge, reference, PIVOT, eye,
		PENDULUM_1,
		reference, PIVOT, null,
		hinge, reference, PIVOT, eye;
	couple: PENDULUM_1, follower internal,
		PENDULUM_1,
		GROUND,
		reference, PIVOT, 0., 0., 1.,
		element, PENDULUM_1, joint, string, "rz",
			string, "-K*Var";

	body: PENDULUM_2, PENDULUM_2, 
		M,
		reference, PIVOT, null,
		reference, PIVOT, diag, J, J, J;
#           joint: PENDULUM_2, revolute hinge,
#               GROUND, 
#               reference, PIVOT, null,
#               hinge, reference, PIVOT, eye,
#               PENDULUM_2,
#               reference, PIVOT, null,
#               hinge, reference, PIVOT, eye;
	joint: PENDULUM_2, revolute pin,
		PENDULUM_2, 
		reference, PIVOT, null,
		hinge, reference, PIVOT, eye,
		reference, PIVOT, null;
	couple: PENDULUM_2, follower,
		PENDULUM_2,
		reference, PIVOT, 0., 0., 1.,
		element, PENDULUM_2, joint, string, "rz",
		string, "-K*Var";

	body: PENDULUM_3, PENDULUM_3, 
		M,
		reference, PIVOT, null,
		reference, PIVOT, diag, J, J, J;
	joint: PENDULUM_3, revolute hinge,
		GROUND, 
		reference, PIVOT, null,
		hinge, reference, PIVOT, eye,
		PENDULUM_3,
		reference, PIVOT, null,
		hinge, reference, PIVOT, eye;
	joint: PENDULUM_3+1, deformable hinge,
		PENDULUM_3,
		hinge, reference, PIVOT, eye,
		GROUND,
		hinge, reference, PIVOT, eye,
			linear elastic isotropic, K;
end: elements;