// begin data
scalar m1 = 20[kg];
scalar m2 = 80[kg];
scalar mu = 0.01[s/m];
scalar v0 = 1[m/s];
scalar t1 = 2[s];
scalar f = 0.1[s/m];
scalar g = 10[m/s2];
scalar N = (m1+m2)*g;
scalar Nload = m1*g;
// points
point pointzero = ( 0[m], 0[m], 0[m] );
point c1 = ( 0[m], 0.1[m], 0[m] );
point c2 = ( 3[m], 0[m], 0[m] );
point left = point( 0 [ m ], 0 [ m ], 0 [ m ] );
point right = point( 6 [ m ], 0 [ m ], 0 [ m ] );
// vectors
vector rox = reverse( projectX );
// surfaces
solid ld = sphere( c1, 0.1 [ m ] );
plane pl = planePV( c2, projectY );
line gorizont = polyLine( list( left, right ) );
// gravity
vector vectorgrav = reverse( projectY );
gravity gravity = parallel( vectorgrav, g = g );
// bodies
body load = body( color = RGB( 229, 229, 229 ) );
body plate = body( color = RGB( 255, 153, 153 ) );
body floor = body( color = RGB( 255, 255, 153 ) );
// v0
//condition condition = sensorValue( vloadsensor, v0 );
condition vload = transVelocity( floor, projectX, load, c1, v0 );
// functions
function FunctionFtrload(v[m/s])=m1*g*f*#v;
//function FunctionFtrplate(vplatesensor[m/s])=(m1+m2)*g*mu*#vplatesensor;
//function functionG(aplate[m/s2])=#aplate*m2;
// sensors
sensor vloadsensor = transVelocity( floor, projectX, load, c1 );
//sensor vplatesensor = velocity( c2 );
//sensor aplate = componentAcceleration( c2, projectX );
//sensor tau = sensorDelay( time, t1 );
//actuator actuatorplate_floor = forcePP( plate, c2, floor, pointzero );
// forces/* vloadsensor*/
force Ftrload = force( load, c1, rox, FunctionFtrload, list( vloadsensor ) );
//force Ftrplate = force( plate, c2, projectX, FunctionFtrplate, list( vplatesensor ) );
//force forceplate = force( plate, c2, rox, functionG, list( aplate ) );
// action
//event v = reformsBySensor( list( forcesOn( list( Ftrload ) ) ), time, 0 [ s ], timer = timerOn: );
//reform myreform = forcesOn( list( forceplate ) );
//event myevent = reformsBySensor( list( myreform ), tau, 0 [ s ] );
// result
//sensor G = -aplate*m2+FunctionFtrplate(vplatesensor);

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body load < (c1, ld );
body plate < (pl, c2 );
body floor < (gorizont );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Инерциальное звено;
set ground = floor;

/\///////////////////////////////////////////////////////////////////////////////////
/\   Единицы измерения;
set units = SI;