scalar a=0.1[ m ];
scalar l=a;
scalar r=0.001[m];
scalar m1=1[ kg ];
scalar m2=2[ kg ];
scalar fi0=10[ deg ];
scalar psi0=0[ deg ];
scalar w0=1000[deg/s];
scalar g=9.81[m/s2];
scalar T=5[s];
point O1=point( 0 [ m ], 0 [ m ], 0 [ m ] );
point O2=point( 0 [ m ], -2*a, 0 [ m ] );
point A=point( -l, -2*a, 0 [ m ] );
point B=mirror( A, planePV( O1, projectX ) );
line line1=polyLine( list( A, B ) );
//node node1=nodePoint( O2 );
vector O1_O2=vectorPP( O1, O2 );
vector O2_B=vectorPP( O2, B );
body base=body( color = RGB( 229, 229, 229 ) );
set ground = base;
body base < ( O1 );
solid solid1=cylinder( O1, O2, r, mass = m1 );
solid solid2=cylinder( A, B, r, mass = m2 );
body body1=body( color = RGB( 229, 229, 229 ) );
body body1 < ( solid1, O1_O2, O2 );
body body2=body( color = RGB( 255, 153, 153 ) );
body body2 < ( solid2, A, B, O2_B, line1 );
joint joint1=rotational( base, body1, O1, projectZ );
joint joint2=rotational( body1, body2, O2, projectZ );
gravity gravity1=parallel( reverse( projectY ), g = g );
sensor fi=angleVV( O1_O2, reverse( projectY ), axisDirection = projectZ );
sensor psi=angleVV( O2_B, projectY, axisDirection = projectZ );
sensor fi_theoretical=fi0*cos(sqrt((3*(m1+2*m2)*g*time*time)/(4*(m1+3*m2)*a)));
sensor psi_theoretical=w0*time;
condition condition1=sensorValue( fi, fi0 );
condition condition2=rotVelocity( base, reverse( projectZ ), body2, w0 );
condition condition3=sensorValue( psi, psi0 );
command command1=constRK4( T, 1.00000e-002 [ s ] );

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

/\///////////////////////////////////////////////////////////////////////////////////
/\   Единицы измерения;
set length = m;
set angle = deg;
set mass = kg;
set time = s;
set force = N;
set work = J;
set pressure = Pa;
set power = W;
set frequency = Hz;
set temperature = K;
set current = A;
set voltage = V;
set resistance = Ohm;
set capacity = F;
set charge = C;
set induction = T;