//This is a small example made to illustrate the reactions whch can be obtained from a revolute joint. 
//
//Please try to run the model and have a look at the following property in a chart: "Main.RevoluteJointStudy.Output.Model.RevJnt.Constraints.Reaction.Fout" 
//
//This property is a vector with five components with the z axis choosen as the rotaion axis these properties are: Fx,Fy,Fz,Mx,My = Fout[0],Fout[1],Fout[2],Fout[3],Fout[4] 
//
//The model consist of one segment with a mass of 10 kg. When looking at the graphs notice that the gravity is applied both in the and z direction to make an interesting loading case.
//
//If the axis of rotation is shifted to example x the reactions are listed as Fx,Fy,Fz,My,Mz = Fout[0],Fout[1],Fout[2],Fout[3],Fout[4] 
//
//If the axis of rotation is shifted to y the reactions are listed as Fx,Fy,Fz,Mx,Mz = Fout[0],Fout[1],Fout[2],Fout[3],Fout[4] 
//
//All forces and moments are measure wrt to the first mentioned coordinate system in the measure. 



Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      AnyDrawRefFrame  drw={
        RGB={0,0,1};
        ScaleXYZ={1,1,1}*0.5;
      };
    };  // Global reference frame
    
    AnySeg Mass={
      Mass=10;
      Jii={0.01,0.01,0.01};
      AnyRefNode Node1={
        sRel={-1,0,0};
        AnyDrawRefFrame  drw={
          RGB={1,0,0};
          ScaleXYZ={1,1,1}*0.5;
        };
      };
      AnyDrawSeg drw={};
    };
    
    AnyRevoluteJoint RevJnt={
      
        AnyRefNode  &ref1=.GlobalRef;
        AnyRefNode &ref2=.Mass.Node1;
      Axis=z;
    };
    
  }; // MyModel
  
  
  
  
  //This study shows how the rotvector works 
  //it will rotate the red coordinate system around the green
  //Try to change the properties:
  //   Axis
  //   Angle
  AnyBodyStudy RevoluteJointStudy = {
    
    AnyVar Angle =90;  //size of rotation in deg.
    AnyVec3 Axis={2,0,0};  //rotation axis
    AnyVec3 AxisNormalized =Axis/vnorm(Axis,2);  //normalized rotation axis
    
    
    
    AnyFolder &Model = .MyModel;
    
    AnyKinEqSimpleDriver drv ={
     AnyRevoluteJoint &rev=..MyModel.RevJnt;
      DriverPos={0};
      DriverVel=(1/.tEnd)*{.Angle}*pi/180;
    };
    RecruitmentSolver = MinMaxSimplex;
    tEnd=1000;
    Gravity = {0.0, -9.81, -9.81};
    nStep=500;
  };
  
  

};  // Main