# -*- encoding=utf-8 -*-

O.engines = [
        ForceResetter(),
        InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Box_Aabb()]),
        IGeomDispatcher([
                Ig2_Sphere_Sphere_ScGeom(),
                Ig2_Facet_Sphere_ScGeom(),
        ]),
        IPhysDispatcher([Ip2_FrictMat_FrictMat_FrictPhys()]),
        ElasticContactLaw(),
        RotationEngine(ids=[1], rotationAxis=(1, 0, 0), angularVelocity=.01),
        RotationEngine(ids=[0], rotationAxis=(1, 1, 1), angularVelocity=-.02),
        NewtonIntegrator(damping=.2, gravity=(0, 0, -9.81))
]

O.bodies.append(sphere([0, 0, 0], 1, fixed=True, color=[1, 0, 0], wire=True))
O.bodies.append(sphere([0, sqrt(2), sqrt(2)], 1, color=[0, 1, 0], wire=True))

O.dt = .01 * PWaveTimeStep()
O.saveTmp()
#o.run(100000); o.wait(); print o.iter/o.realtime,'iterations/sec'
from yade import qt

qt.View()
renderer = qt.Renderer()
renderer.intrGeom = True
qt.Controller()
O.step()
O.step()
O.step()
O.run(20000)