// data parametres
scalar g = 9.81 [m/s2];
scalar m1 = 1 [kg];
scalar m2 = 6 [kg];
scalar m3 = 4 [kg];
scalar r1 = 0.4 [m];
scalar r2 = 0.3 [m];
scalar l = 0.1 [m];
scalar a1 = 0.2 [m];
scalar a2 = 0.1 [m];
scalar phi1 = 0.165148676 [rad];
scalar phi2 = 0.35877067 [rad];
scalar psi = 6.71096627 [rad];
scalar mu = 0.05 [];
scalar nu = 0.05[];
// points 
point K = ( -r1*cos(phi1), r1*sin(phi1)+r1, 0 [ m ] );
point C = ( 0 [ m ], 0 [ m ], 0 [ m ] );
point L = ( r1*cos(phi1), r1-r1*sin(phi1), 0 [ m ] );
point M = ( r1*cos(phi1)+l*cos(psi), r2-r2*sin(phi2), 0 [ m ] );
point D = ( r1*cos(phi1)+l*cos(psi)+r2*cos(phi2), 0 [ m ], 0 [ m ] );
point N = ( r1*cos(phi1)+l*cos(psi)+2*r2*cos(phi2), r2+r2*sin(phi2), 0 [ m ] );
point A = ( -a1*sin(phi1), r1-a1*cos(phi1), 0 [ m ] );
point B = ( r1*cos(phi1)+l*cos(psi)+r2*cos(phi2)+a2*sin(phi2), r2-a2*cos(phi2), 0 [ m ] );
point o1 = ( 0 [ m ], r1, 0 [ m ] );
point o2 = ( r1*cos(phi1)+l*cos(psi)+r2*cos(phi2), r2, 0 [ m ] );
// shperes
line hshere1 = circlePPP( L, K, C, arc = arc: );
line hshere2 = circlePPP( M, N, D );
solid mshere1 = sphere( A, 0.001 [ m ], mass = m2 );
solid mshere2 = sphere( B, 0.001 [ m ], mass = 4 [ kg ] );
// stick
solid solid1 = cylinder( M, L, 0.01 [ m ], mass = m1 );
// bodies
body big = body( color = RGB( 229, 229, 229 ) );
body small = body( color = RGB( 255, 153, 153 ) );
body stick = body( color = RGB( 255, 153, 102 ) );
body bodyinert = body( color = RGB( 255, 255, 153 ) );
// joints
joint joint1 = rotational( stick, big, L, projectZ );
joint joint2 = rotational( small, stick, M, projectZ );
// vectors of gravitation shperes
vector vgbig = ( 0 [ m ], -6*9.81 [ m ], 0 [ m ] );
vector vgsmall = ( 0 [ m ], -4*9.81 [ m ], 0 [ m ] );
vector vectorgrav = reverse( projectY );
vector vectorKL = vectorPP( K, L );
vector vectorLM = vectorPP( L, M );
vector vectorMN = vectorPP( M, N );
// gravitation
gravity gravity = parallel( vectorgrav );
// the inertbody-floor
point pointleft = point( -1 [ m ], 0 [ m ], 0 [ m ] );
point pointright = point( 1 [ m ], 0 [ m ], 0 [ m ] );
line floor = polyLine( list( pointleft, pointright ) );
// joints of spheres - floor
joint jointbig = contactLineLine( hshere1, floor );
joint jointsmall = contactLineLine( hshere2, floor );
// sensors
sensor phi1t = angleVV( vectorKL, projectX );
sensor phi2t = angleVV( vectorMN, projectX );
sensor psit = angleVV( vectorLM, projectX );
// functions
function hA(phi1t[rad]) = r1-a1*cos(#phi1t);
function hB(phi2t[rad]) = r2-a2*cos(#phi2t);
function hQ(phi1t[rad],psit[rad]) = r1-r1*sin(#phi1t)-l*sin(#psit)/2;
sensor Pbig = m2*g*hA(phi1t);
sensor Psmall = m3*g*hB(phi2t);
sensor Pstick = m1*g*hQ(phi1t,psit);
sensor sumP = Pbig+Psmall+Pstick;
sensor minsumP = min( sumP );
//function mP(minsumP[ J])=#minsumP;
//scalar minP = mP(minsumP);
event myevent = reformsBySensor( list( stop(  ) ), time, 1.65[s] );
//medium medium = mediumV( 1000 [ kg/ m3 ], 400 [ m/ s ], projectX, 0 [ m/ s ] );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body big < (hshere1, mshere1, A );
body small < (hshere2, mshere2, B );
body stick < (solid1 );
body bodyinert < (floor, C, D );

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

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