//fatal_warnings = True;

#include "../libdef.any"

Main = {

  AnyOperation& RunTest = study.InverseDynamics;

  AnyFolder Model = 

  {

    AnyFixedRefFrame GlobalRef = {

    };

    AnyStdJoint KinematicSupport = {

      AnyRefFrame& ref0 = .GlobalRef;

      AnyRefFrame& ref1 = .seg;

      Constraints.Reaction.Type = {Off,Off,Off,Off,Off,Off};

    };

    AnyFolder BugWorkAround = {

      // For small systems it is necessary to have a least one reaction in the system. 

      // Otherwise the recuitment solver fails. Hence the code below ensure this works

        AnyStdJoint dummySupport = {

          AnyRefFrame& ref0 = ..GlobalRef;   

          AnyRefFrame& ref1 = .dummy;

        };

        AnySeg dummy = {

          Mass = 1;

          Jii = 0.1*{1,1,0.1};

        };

    };

    AnySeg seg = {

      sCoM = {0,0.05,0};

      r0 = {0.1,0,0.1};

      Mass = 10;

      Jii = 1*{1,1,0.1};

      viewInertia.Visible=On;

    };

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/Support.any"  

  };

  AnyBodyStudy study = {

    nStep = 1;

    Gravity = {0, -9.81, 0.1};

    AnyFolder& Model = .Model;

  };

};