# -*- encoding=utf-8 -*-
O.bodies.append(sphere([0, 0, 10], .5))
#O.bodies.append(sphere([0,0,0],.5,fixed=True))

O.engines = [
        ForceResetter(),
        InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Facet_Aabb()], label='collider'),
        InteractionLoop(
                [Ig2_Sphere_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom()],
                [Ip2_FrictMat_FrictMat_FrictPhys()],
                [Law2_ScGeom_FrictPhys_CundallStrack()],
        ),
        NewtonIntegrator(damping=.1, gravity=[0, 0, -1e4])
]
collider.verletDist = .5
O.dt = 8e-2 * PWaveTimeStep()
O.saveTmp()
from yade import timing
O.timingEnabled = True
from yade import qt
r = qt.Renderer()
#r['Body_bounding_volume']=True
v = qt.View()
qt.Controller()
v.ortho = True
#v.viewDir=O.bodies[0].phys.pos; v.lookAt=O.bodies[0].phys.pos;  v.upVector=(0,0,1);
O.run(2, True)
