62 lines (40 with data), 1.2 kB

//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;
 
  };




};