solver
{
    type symplectic;
}

bodies
{
    hinge
    {
        type            masslessBody;
        parent          root;
        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
        joint
        {
            type            Rz;
        }
        outline
        (
            (0 0 0)
            (0 -0.95 0)
            (0.025 -0.95669873 0)
            (0.04330127 -0.975 0)
            (0.05 -1 0)
            (0.04330127 -1.025 0)
            (0.025 -1.04330127 0)
            (0 -1.05 0)
            (-0.025 -1.04330127 0)
            (-0.04330127 -1.025 0)
            (-0.05 -1 0)
            (-0.04330127 -0.975 0)
            (-0.025 -0.95669873 0)
            (0 -0.95 0)
        );
    }
    weight
    {
        type            sphere;
        mass            1;
        radius          0.05;
        centreOfMass    (0 0 0);
        transform       (1 0 0 0 1 0 0 0 1) (0 -1 0);
        mergeWith       hinge;
    }
}

g (0 -9.81 0);

q (0.3);

deltaT 0.01;

endTime 4.1;