solver
{
    type Newmark;
}

bodies
{
    M
    {
        type            sphere;
        parent          root;
        mass            6e4;
        radius          0.01;
        centreOfMass    (0 0 0);
        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
        joint
        {
            type composite;

            joints
            (
                {
                    type            Px;
                }
                {
                    type            Rz;
                }
            );
        }
        outline
        (
            (0 0.1 0)
            (0.05 0.0866025 0)
            (0.0866025 0.05 0)
            (0.1 0 0)
            (0.0866025 -0.05 0)
            (0.05 -0.0866025 0)
            (0 -0.1 0)
            (0 -2.5 0)
            (0 -0.1 0)
            (-0.05 -0.0866025 0)
            (-0.0866025 -0.05 0)
            (-0.1 0 0)
            (-0.0866025 0.05 0)
            (-0.05 0.0866025 0)
            (0 0.1 0)
        );
    }

    m
    {
        type            sphere;
        parent          M;
        mass            6e3;
        radius          0.01;
        centreOfMass    (0 0 0);
        transform       (1 0 0 0 1 0 0 0 1) (0 -5 0);
        joint
        {
            type            rigid;
        }
        outline
        (
            (0 2.5 0)
            (0 0.1 0)
            (0.05 0.0866025 0)
            (0.0866025 0.05 0)
            (0.1 0 0)
            (0.0866025 -0.05 0)
            (0.05 -0.0866025 0)
            (0 -0.1 0)
            (-0.05 -0.0866025 0)
            (-0.0866025 -0.05 0)
            (-0.1 0 0)
            (-0.0866025 0.05 0)
            (-0.05 0.0866025 0)
            (0 0.1 0)
            (0 2.5 0)
        );
    }
}

restraints
{
    spring
    {
        type            linearSpring;
        body            M;
        anchor          (0 0 0);
        refAttachmentPt (0 0 0);
        stiffness       1e5;
        damping         0;
        restLength      0;
    }
}

// Set the gravitational acceleration
g (0 -9.81 0);

// Set the initial offset of the pendulum to 1.5m
// and the angle of the pendulum to 30deg
q (1.5 0.5235987);

deltaT 0.01;

// It is necessary to iterate for the Newmark solver
nIter 2;

endTime 20;