//Small example to illustra the use of rotational measures and drivers...

Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = { };  // Global reference frame
    
    AnySeg Mass={
      Jii={0.2,0.2,0.2};
      Mass=20;
      
      AnyRefNode node1 ={       sRel={-0.5,0,0};      };
      AnyRefNode node2 ={        sRel={0.5,0,0};      };
      AnyDrawSeg drw={RGB={0,0,1};};
    };
    
    AnySphericalJoint Jnt={
      AnyRefFrame &ref=.GlobalRef;
      AnyRefFrame &ref2=.Mass.node1;
      Orientation.Type=RotAxesAngles;
      Orientation.Axis1=z;
      Orientation.Axis2=y;
      Orientation.Axis3=x;
    }; 
    
    
    AnyKinMeasureOrg rot0={
      AnySphericalJoint &ref=.Jnt;
      MeasureOrganizer={0};
    };
    
    AnyKinMeasureOrg rot1={
      AnySphericalJoint &ref=.Jnt;
      MeasureOrganizer={1};
    };
    
    AnyKinMeasureOrg rot2={
      AnySphericalJoint &ref=.Jnt;
      MeasureOrganizer={2};
    };
    
    AnyKinEqSimpleDriver drv={
      
      //Try swapping between the two set of drivers and you will see the results are identical!
      //The point is here to show that in a driver the rotation sequence do not matter... this is handled 
      //in the rotational measure
      
      //AnyKinMeasureOrg &ref0 = .rot0;
      //AnyKinMeasureOrg &ref1 = .rot1;
      //AnyKinMeasureOrg &ref2 = .rot2;
      //DriverPos={0,0,0};
      //DriverVel={1,2,7};
      
      
      AnyKinMeasureOrg &ref0 = .rot0;
      AnyKinMeasureOrg &ref1 = .rot2;  //notice the swap compared to above
      AnyKinMeasureOrg &ref2 = .rot1;
      DriverPos={0,0,0};
      DriverVel={1,7,2}; //notice the swap compared to above
      
    };

    
  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    Gravity = {0.0, -9.81, 0.0};
  };
  
};  // Main