//This small script shows how it is possible to create model having a joint between an ellipsoid and a 
//plane
//The ellipsoid-plane joint is created in an include file which is being used from this file.

Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      AnyRefNode Node1={
        sRel={0,0,0.05};
        ARel=RotMat(-20*pi/180,x); 
      };
    };  // Global reference frame
    
    AnySeg Segment={
      Mass=5; 
      Jii={0.05,0.1,0.1};
      AnyRefNode node1={
        sRel={0.4,0,0.05};
        ARel=RotMat(35*pi/180,z);
      };
      
      AnyDrawSeg drw={};
    };
    
    
    AnyFolder EllipsoidJoint1={
      AnyRefNode &JointNode =.Segment.node1;  //this is the node where the ellipsoid is attatched too
      AnyRefFrame &JointNodeParent=.Segment;  //this is the reference frame of the attachement node
      AnyRefFrame &GlobalRefFrame=.GlobalRef.Node1;  //this is the node used for attaching the plane
      AnyVar a=0.075;  //long axis of ellipsoid
      AnyVar b=0.032;   //short axis of ellipsoid
      
      #include "EllipsoidJoint.any"
    };
    
    
    //This driver drives the postion of the segment on the surface of the ellipsoid
    //after adding four constraints to the model we now have two dof free for driving
    AnyKinEqSimpleDriver SegmentDriver={
      AnyKinLinear lin ={
        AnyFixedRefFrame &ref1=..GlobalRef;
        AnyRefNode &ref2=..Segment.node1;
        
      };
      
      AnyKinRotational rot ={
        AnyRefNode &ref2=..Segment.node1;
        AnyFixedRefFrame &ref1=..GlobalRef;
        Type=RotAxesAngles;
      };
      MeasureOrganizer={0,2,3,4,5}; 
      DriverPos={0,0,50*pi/180,0,0};
      DriverVel={0,0,120*pi/180,0*pi/180,0};
      
    };
    
    
  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
    nStep=3000;
  };
  
};  // Main