###################begin declarations##########
set: integer Grnd=0; #node
set: integer Lw=1; #node
set: integer Rw=2; #node
set: integer Hitch=3; #node
set: integer Axle=4; #node
set: integer Cgrnd=1; #joint
set: integer LVhx=2; #joint
set: integer LVhy=3; #joint
set: integer RHlw2=4; #joint
set: integer RHrw2=5; #joint
set: integer W2lw2=6; #joint
set: integer W2rw2=7; #joint
set: integer jnt10=8; #joint
set: integer AVh=9; #joint
set: integer Empty=1; #empty
set: integer ge=2; #empty
set: integer lwe=3; #empty
set: integer rwe=4; #empty
set: integer he=5; #empty
set: integer ae=6; #empty
set: integer beam1=1; #beam
set: integer s=15; #parameter
set: real r=0.49; #parameter
set: integer m=500; #parameter
set: real wi=1.2; #parameter
###################end declarations############
begin: data;
    integrator: multistep;
end: data;

begin: multistep;
    initial time: 0.0;
    final time: 70/s;
    time step: 1.e-4;
    max iterations: 10;
    tolerance: 1.e-6;
    derivatives tolerance : 2.0;
    derivatives coefficient: 0.001;
end: multistep;
##################begin reference frames##########
reference: Empty,
   reference, global, 1.0, 0.0, 0.0,  #location
    reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: ge,
   reference, global, 0.0, 0.0, 0.0,  #location
    reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: lwe,
   reference, global, -1.5, -4.5, 0.5,  #location
    reference, global, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: rwe,
   reference, global, 1.5, -4.5, 0.5,  #location
    reference, global, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: he,
   reference, global, 0.0, 0.0, 0.5,  #location
    reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
reference: ae,
   reference, global, 0.0, -4.5, 0.5,  #location
    reference, global, matr, 1.000000, -0.000000, -0.000000, 0.000000, 1.000000, -0.000000, 0.000000, 0.000000, 1.000000, #orientation
   reference, global, null, #translational velocity
   reference, global, 0.,0.,0.; #rotational velcotiy
##################end reference frames#########
begin: control data;
    structural nodes: 
        +1#for node:Grnd
        +1#for node:Lw
        +1#for node:Rw
        +1#for node:Hitch
        +1#for node:Axle
    ;
    rigid bodies:
        +1#for body:Grnd
        +1#for body:Lw
        +1#for body:Rw
        +1#for body:Hitch
        +1#for body:Axle
    ;
    joints:
        +1 #for joint:Cgrnd
        +1 #for joint:LVhx
        +1 #for joint:LVhy
        +1 #for joint:RHlw2
        +1 #for joint:RHrw2
        +1 #for joint:W2lw2
        +1 #for joint:W2rw2
        +1 #for joint:jnt10
        +1 #for joint:AVh
    ;
    beams:
        +1 #for beam:beam1
    ;
    gravity;
end: control data;

begin: nodes;
    structural: Grnd, dynamic,
     #position
     reference, global, 0.0, 0.0, 0.0,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,0,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: Lw, dynamic,
     #position
     reference, global, -1.5, -4.5, 0.5,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,s,0,
     #initial rotational velocities
     reference, global, -s/r,0,0;
    structural: Rw, dynamic,
     #position
     reference, global, 1.5, -4.5, 0.5,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,s,0,
     #initial rotational velocities
     reference, global, -s/r,0,0;
    structural: Hitch, dynamic,
     #position
     reference, global, 0.0, 0.0, 0.5,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,s,0,
     #initial rotational velocities
     reference, global, 0,0,0;
    structural: Axle, dynamic,
     #position
     reference, global, 0.0, -3.5, 1.0,
     #orientation matrix
     reference, global, matr, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000,
     #initial translational velocities
     reference, global, 0,s,0,
     #initial rotational velocities
     reference, global, 0,0,0;
end: nodes;
begin: elements;
    body: 1000+Grnd,Grnd,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Lw,Lw,
     1, #mass
     null, #relative center of mass
     matr, wi, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Rw,Rw,
     1, #mass
     null, #relative center of mass
     matr, wi, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Hitch,Hitch,
     1, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    body: 1000+Axle,Axle,
     m, #mass
     null, #relative center of mass
     matr, 1, 0, 0, 0, 1, 0, 0, 0, 1;   #inertia matrix
    joint: Cgrnd, clamp, #joint type
     Grnd,  #node 1
     node, node;
    joint: LVhx, Linear Velocity, #joint type
     Hitch,  #node 1
             1, 0, 0,
     string, "(-6.29e-8*(s*Time)^5+9.89e-6*(s*Time)^4-5.214e-4*(s*Time)^3+1.012e-2*(s*Time)^2-4.90e-2*(s*Time))*s"; #speed
    joint: LVhy, Linear Velocity, #joint type
     Hitch,  #node 1
             0, 1, 0,
     string, "s"; #speed
    joint: RHlw2, revolute hinge, #joint type
     Lw,  #node 1
      0.0,0.0,0.0, #relative Offset
      hinge, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000,  #local orientation
     Axle,  #node 2
      -1.5,-1.0,-0.5, #relative Offset
      hinge, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000;  #local orientation
    joint: RHrw2, revolute hinge, #joint type
     Rw,  #node 1
      0.0,0.0,0.0, #relative Offset
      hinge, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000,  #local orientation
     Axle,  #node 2
      1.5,-1.0,-0.5, #relative Offset
      hinge, matr, 0.000000, 0.000000, 1.000000, 0.000000, 1.000000, 0.000000, -1.000000, 0.000000, 0.000000;  #local orientation
    joint: W2lw2, wheel2, #joint type
     Lw,  #node 1
       #node 1 above defines the tire
      reference, lwe, 0.,0,1.,
      Grnd,#ground body
      reference, ge, null,
      reference, ge, 0.,0,1.,#up vector
      0.49, #tire radius
      2.97*in2m, #torus radius
      0.98, #volume coefficient
      115.*lb2kg/in2m^2*9.81, #tire pressure
      .9, #polytropic exponent
      30, #reference velocity
       slip,
       piecewise linear, 5,
        -1,-.25,
        -.2,-.8,
        0,0,
        .2,.8,
        1,.25,
        string,"1.*tanh(Var/.26)",
        linear, 0., 0.2,
        threshold, 5.,5.;
    joint: W2rw2, wheel2, #joint type
     Rw,  #node 1
       #node 1 above defines the tire
      reference, rwe, 0.,0,1.,
      Grnd,#ground body
      reference, ge, null,
      reference, ge, 0.,0,1.,#up vector
      0.49, #tire radius
      2.97*in2m, #torus radius
      0.98, #volume coefficient
      115.*lb2kg/in2m^2*9.81, #tire pressure
      .9, #polytropic exponent
      30, #reference velocity
       slip,
       piecewise linear, 5,
        -1,-.25,
        -.2,-.8,
        0,0,
        .2,.8,
        1,.25,
        string,"1.*tanh(Var/.26)",
        linear, 0., 0.2,
        threshold, 5.,5.;
    joint: jnt10, In plane, #joint type
     Grnd,  #node 1
      0.0,0.0,0.0,  #relative Offset
      #relative normal direction below
      0.000000, 0.000000, 1.000000,  #z axis
     Hitch,  #node 2
      offset,      0.0,0.0,-0.5;  #relative Offset
    joint: AVh, Angular velocity, #joint type
     Hitch,  #node 1
             0, 1, 0,
     string, "0"; #speed
    beam2: beam1,
      Hitch,reference,node,
      0.0,0.0,0.0, #relative Offset
      Axle,reference,node,
      0.0,-1.0,-0.5, #relative Offset
      eye,
      linear viscoelastic generic,
       444444444.44444442, 0, 0, 0, 0, 0, 0, 131687.24279835392, 0, 0, 0, -296296.29629629635, 0, 0, 131687.24279835392, 0, 296296.29629629635, 0, 0, 0, 0, 86805.555555555562, 0, 0, 0, 0, 296296.29629629635, 0, 888888.88888888899, 0, 0, -296296.29629629635, 0, 0, 0, 888888.88888888899, #stiffness matrix
      proportional, 0.1;
gravity: 0., 0., -1., const, 9.81;
end: elements;