// begin data for stick
scalar m = 1 [kg ];
scalar g = 9.81 [m/s2];
scalar pA = 0.433012701 [m];
scalar pC = 0.21650635 [m];
point pointA = point( 0[ m ], pA, 0[m] );
point pointB = point( 0.25 [m], 0[m], 0[m] );
point pointC = point( 0.125 [ m ], pC, 0 [ m ] );
solid stick = cylinder( pointA, pointB, 0.002 [ m ], mass = m );
// data for inertbody - angle
point pointup = point( 0 [ m ], 2 [ m ], 0 [ m ] );
point pointzero = point( 0 [ m ], 0 [ m ], 0 [ m ] );
point pointright = point( 2 [ m ], 0 [ m ], 0 [ m ] );
line angle = polyLine( list( pointup, pointzero, pointright ) );
line gorizont = polyLine( list( pointzero, pointright ) );
//bodies
body distriction = body( color = RGB( 229, 229, 229 ) );
body body1 = body( color = RGB( 229, 229, 229 ) );
// vectors of angle phi
vector vector1 = vectorPP( pointB, pointA );
vector vector2 = reverse( projectX );
// researched sensors
sensor Vx = rotVelocity( body1, projectX, distriction );
sensor Vy = rotVelocity( body1, projectY, distriction );
sensor Wx = rotAcceleration( body1, projectX, distriction );
sensor Wy = rotAcceleration( body1, projectY, distriction );
sensor phi = angleVV( vector1, vector2 );
// functions for forces of stick
function valN1(phi[rad])=m*g*sin(#phi)*cos(#phi);
function valN2(phi[rad])=m*g*cos(#phi)*cos(#phi);
// forces
force N1 = force( body1, pointB, projectX, valN1, list( phi ) );
force N2 = force( body1, pointC, reverse( projectY ), valN2, list( phi ) );
// down joint (stick-floor)
joint joint1 = contactPointLine( pointB, gorizont );
scalar epstime = 0.25[s];
// the moment of department stick of wall
event myevent = reformsBySensor( list( stop(  ) ), time, epstime );
// (not used)
/*
scalar phi0 = 1.57 [];
vector vector10 = vectorPP( pointBs, pointAs );
vector vector20 = reverse( projectX );
point pointAs = point( 0[ m ], pA, 0[m] );
point pointBs = point( 0.25 [m], 0[m], 0[m] );
sensorValue(sensorphi,eps) -> stop();
actuator beginactivator = forcePP( body1, pointC, distriction, pointzero );
motion beginmotion=forcesOn(list(N1,N2));
reform beginreform = motionsOn(list(beginmotion));
event myevent = intervalSwitch(forcesOn(list(N1,N2)), stop(), sensorphi, phi0, 0, eps);
event v = reformsBySensor( list( forcesOn( list( Ftrload ) ) ), time, 0 [ s ], timer = timerOn: );
phi<=eps->event myevent = reformsBySensor( list( stop(  ) ), sensorphi, phi );
*/

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body distriction < (gorizont, pointzero, pointright );
body body1 < (stick, pointA, pointB, pointC );

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

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