OpenFOAM-6/applications/test/rigidBodyDynamics/triplePendulum

solver
{
    type symplectic;
}

bodies
{
    bar1
    {
        type            rigidBody;
        mass            3;
        centreOfMass    (0 -0.5 0);
        inertia         (0.2575 0 0 0.015 0 0.2575);
        parent          root;
        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
        joint
        {
            type            Rz;
        }
        outline         ((0 0 0) (0 -1 0));
    }
    bar2
    {
        type            rigidBody;
        mass            3;
        centreOfMass    (0 -0.5 0);
        inertia         (0.2575 0 0 0.015 0 0.2575);
        parent          bar1;
        transform       (1 0 0 0 1 0 0 0 1) (0 -1 0);
        joint
        {
            type            Rz;
        }
        outline         ((0 0 0) (0 -1 0));
    }
    bar3
    {
        type            rigidBody;
        mass            3;
        centreOfMass    (0 -0.5 0);
        inertia         (0.2575 0 0 0.015 0 0.2575);
        parent          bar2;
        transform       (1 0 0 0 1 0 0 0 1) (0 -1 0);
        joint
        {
            type            Rz;
        }
        outline         ((0 0 0) (0 -1 0));
    }
}

g (0 -9.81 0);

q (1.5707963267948966 0 0);

deltaT 0.01;

endTime 20;