//This is a small model made to demonstrate the use of the AnyForceMomentMeasure 
//it has one segment and one joint
Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      AnyDrawRefFrame drw={};
    };  // Global reference frame
    
    AnySeg Arm ={
      Mass=2;
      Jii={0.05,0.1,0.1};
      AnyRefNode node1={sRel={-0.6,0,0};};
      AnyRefNode node2={sRel={0.6,0,0};};
      AnyDrawSeg drw={};
    };
    
    AnyRevoluteJoint jnt={
      AnyFixedRefFrame &ref1=.GlobalRef;
      AnyRefNode &ref2=.Arm.node1;
      Axis=z;
    };
    
    AnyKinEqSimpleDriver drv={
      AnyRevoluteJoint &drv=.jnt;
      DriverPos={0};
      DriverVel={2*pi}/Main.MyStudy.tEnd;
    };
    
    //the output from this object is the force and moment measure in global coordinate system
    //in the node .Arm.node1;
    AnyForceMomentMeasure JointReactionMeasure =  {
      AnyForceBase &ref1=.jnt.Constraints.Reaction; //this is a reference to the constraints of the joint
      AnyRefNode &ref2=.Arm.node1;
    };
    
    //this vector will draw the force measure in global ref
    AnyDrawVector drawforceGlobal = {
      Vec = .JointReactionMeasure.F/10;
      Line =  {
        Style = Line3DStyleFull;
        Thickness = 0.05;
        RGB = {0, 0, 0};
      };
      AnyRefNode &ref2=.Arm.node1;
    };
    
    //This vector will draw the same force as above but it has first been rotated into the 
    //the ref frame of the node and then the vector is drawn in the cooridnate system of this node.
    //This means that the visual force ends up being the same as the vector above, as it should. 
    AnyDrawVector drawforceLocal = {
      Vec = .JointReactionMeasure.F/10*.Arm.node1.Axes;
      Line =  {
        Style = Line3DStyleFull;
        Thickness = 0.05;
        RGB = {0, 0, 0};
      };
      GlobalCoord=Off;
      AnyRefNode &ref2=.Arm.node1;
    };
    

  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    RecruitmentSolver = MinMaxSimplex;
    Gravity = {0.0, -9.81, 0.0};
    tEnd=1000;

  };
  
};  // Main