scalar r=0.5[m];
scalar R=3*r;
scalar m=5[kg];
scalar l=2[m]*sqrt(2);
scalar m1=0.5*m;
scalar g=9.81[m/s2];
point O=point( 0 [ m ], R, 0 [ m ] );
point A=point( 0 [ m ], r, 0 [ m ] );
point B=point( -2*r, R, 0 [ m ] );
line circle=circle( O, projectZ, R );
line circleA=circle( A, projectZ, r );
line circleB=circle( B, projectZ, r );
solid solidA=extrude( circleA, move( A, projectZ, r ), move( A, reverse( projectZ ), r ), mass = m );
solid solidB=extrude( circleB, move( B, projectZ, r ), move( B, reverse( projectZ ), r ), mass = m );
solid solidC=cylinder( A, B, 0.001*l, mass = m1 );
body base=body( color = RGB( 229, 229, 229 ) );
set ground = base;
body base < ( circle );
body bodyA=body( color = RGB( 255, 153, 153 ) );
body bodyA < ( circleA, solidA, A );
body bodyB=body( color = RGB( 255, 153, 102 ) );
body bodyB < ( circleB, solidB, B );
body bodyC=body( color = RGB( 255, 255, 153 ) );
body bodyC < ( solidC );
joint jointA=flatContactLineLine( circle, circleA, lines_slip = linesNoSlip: );
joint jointB=flatContactLineLine( circle, circleB, lines_slip = linesNoSlip: );
joint joint1=rotational( bodyA, bodyC, A, projectZ );
joint joint2=rotational( bodyB, bodyC, B, projectZ );
vector vector1=vectorPP( B, A );
body bodyC < ( vector1 );
sensor alpha=angleVV( projectX, vector1, axisDirection = projectZ );
event event1=reformsBySensor( list( stop(  ) ), alpha, 0 [ rad ] );
sensor v_A=velocity( A );
sensor v_B=velocity( B );
sensor v_theoretical=sqrt(1.5*(sqrt(2)-1)*g*r);
gravity gravity1=parallel( reverse( projectY ), g = g );
sensor v_A_rel_err=abs((v_A-v_theoretical)/v_A);
sensor v_B_rel_err=abs((v_B-v_theoretical)/v_B);
command command1=constRK4( 1.00000e+000 [ s ], 1.00000e-003 [ s ] );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Список главных команд;
set dynamics = command1;

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