.. include:: definitions.rstinc

.. _quick-start-guide-label:

=================
Quick Start Guide
=================

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Creating our First Mechanism
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.. figure:: images/quick_start_guide/quickstartguide_wheel_mech.gif
  :alt: A simple mechanism.
  :target: _images/quickstartguide_wheel_mech.gif


The main parts are marked in the figure below.

.. figure:: images/quick_start_guide/quickstartguide_simple_mechanism_with_names.jpg
  :alt: The main parts of the mechanism.
  :target: _images/quickstartguide_simple_mechanism_with_names.jpg

  The main parts of the mechanism.


Step 1: Creating the Floor
==========================

The floor can be created by using a Static Mesh and a Trimesh Shape. The Trimesh Shape gives the Static Mesh the ability to collide with other AGX Dynamics for Unreal Shapes.

.. raw:: html

   <video width="100%" controls src="_static/qsg_step1.mp4"></video>


Step 2: Creating the Wheel
==========================

The wheel can be created by using a Rigid Body, a Cylinder Shape and a Box Shape. We attach the wheel to the world by creating a Hinge Constraint.

.. raw:: html

   <video width="100%" controls src="_static/qsg_step2.mp4"></video>


Step 3: Creating and Attaching the Horizontal Bar
=================================================

The horizontal bar can be created by using a Rigid Body and a Box Shape. We attach the horizontal bar to the wheel by creating a Hinge Constraint.

.. raw:: html

   <video width="100%" controls src="_static/qsg_step3.mp4"></video>


Step 4: Creating and Attaching the Head
=======================================

The head can be created by using a Rigid Body and a Box Shape. We attach the head to the horizontal bar by creating a Ball Constraint.

.. raw:: html

   <video width="100%" controls src="_static/qsg_step4.mp4"></video>


Step 5: Creating the Top
========================

The top can be created by using a Box Shape. Note that this is an alternative way of creating a box compared to the creation of the floor in step 1.

.. raw:: html

   <video width="100%" controls src="_static/qsg_step5.mp4"></video>


Step 6: Creating Shape and Contact Materials
============================================

To better control the physical interaction between the head and the floor, we create and apply Shape Materials and a Contact Material for these.

.. raw:: html

   <video width="100%" controls src="_static/qsg_step6.mp4"></video>