Test_rolling_without_slipping.any

 // Todo: Write a small description of your model here

#include "InstantaneousAxisOfRotation.any"
 
Main = {
  
  // The actual body model goes in this folder
  AnyFolder MyModel = {
    
    // Global Reference Frame
    AnyFixedRefFrame GlobalRef = {
      
      AnyDrawRefFrame drw={};
      
    };  // Global reference frame
    
    
    AnyFolder Segments = {
      
      


      
      AnySeg Ground =       {
        
        Mass = 0;
        Jii = {0, 0, 0};

 AnyRefNode jnt ={ARel = RotMat(0.3*pi,y)*RotMat(0.3*pi,x);};        
        
                AnyDrawRefFrame drw1 ={ RGB={0,0,1};};
      };

      
      AnySeg Ball =       {
        
        Mass = 0;
        Jii = {0, 0, 0};
        AnyDrawRefFrame drw1 ={ RGB={0,0,1};};
        AnyDrawSphere drw2={ScaleXYZ={1,1,1}*0.5;};
      
      };
      
    };
    
    
    
    
    AnyFolder Joints = {
      
      
     AnyKinLinear  Lin1 ={
        
        AnyRefFrame &ref1=..GlobalRef;
        AnyRefFrame &ref2=..Segments.Ground;
        
       
      };
      
      AnyKinRotational  Rot1 ={
        
        AnyRefFrame &ref1=..GlobalRef;
        AnyRefFrame &ref2=..Segments.Ground;
        Type=RotAxesAngles;
      };
      
      
      AnyKinEqSimpleDriver drv1={
        AnyKinMeasure &ref1=.Lin1;
        AnyKinMeasure &ref2=.Rot1;
        DriverPos ={0,0,0,0,0.25*pi,0};
        DriverVel ={0,0,0,0,0,0};
        
      };
      
      AnyKinLinear  Lin2 ={
        Ref=0;
        AnyRefFrame &ref1=..Segments.Ground.jnt;
        AnyRefFrame &ref2=..Segments.Ball;
      };
      
      AnyKinRotational  Rot2 ={
        
        AnyRefFrame &ref1=..Segments.Ground.jnt;
        AnyRefFrame &ref2=..Segments.Ball;
        Type=RotAxesAngles;
      };
      
      
      AnyKinEqSimpleDriver drv2={
        AnyKinMeasure &ref1=.Lin2;
        AnyKinMeasure &ref2=.Rot2;
        AnyVar  Radius =0.5;
        DriverPos ={0,0.5,0,0,0,0};
        DriverVel ={2*pi*Radius,0,0,-2*pi,0,0};
        
      };
      
    };
    
    
//    AnyFolder InstantenousAxisCal ={
   InstantaneousAxisOfRotation IAOR (Body1=.Segments.Ground, Body2=.Segments.Ball) =
   {
   AxisThickness = 0.05;
   
   };
  }; // MyModel
  
  // The study: Operations to be performed on the model
  AnyBodyStudy MyStudy = {
    AnyFolder &Model = .MyModel;
    Gravity = {0.0, -9.81, 0.0};
    nStep = 200;
    tStart = 0;
    tEnd = 2;
  };
  
};