!!omap
- name: dryfriction
- parts:
  - name: head
    shapes:
      libraries: ['from math import tan, radians, sin, cos', from pysketcher import
          *]
  - name: constants
    shapes:
      fontsize: 18       # size of the characters
      g: 9.81            # constant gravity
      theta: 30.0        # inclined plane angle
      L: 10.0            # sketch sizing parameter
      a: 1.0             #
      xmin: 0.0          # sketech min Abscissa
      ymin: -3.0         # sketech min Ordinate     
      rl: 2.0            # rectangle width
      rL: 1.0            # rectangle length
  - name: frame
    shapes:
      setframe:          # sketch setup
        action: drawing_tool.set_coordinate_system(xmin=xmin-L/5, xmax=xmin+1.5*L,ymin=ymin,
          ymax=ymin+1.5*L,instruction_file='tmp_mpl_friction.py')
      setblackline:      # default frame values and actions
        action: drawing_tool.set_linecolor('black')
      B: point(a+L,0)                    # wall right end
      A: point(a,tan(radians(theta))*L)  # wall left end
      normal_vec: point(sin(radians(theta)),cos(radians(theta)))   # Vector normal to wall
      tangent_vec: point(cos(radians(theta)),-sin(radians(theta))) # Vector tangent to wall
      help_line: Line(A,B)               # wall line
      x: a + 3*L/10.                     # contact point Abscissa
      y: help_line(x=x)                  # contact point Ordinate
      contact: point(x, y)               # contact point: middle of the rectangle bottom edge
      c: contact + rL/2*normal_vec
  - name: body
    shapes:
      rectangle:
        formula: Rectangle(contact, rl, rL)
        style:
          linecolor: blue
          filled_curves:
              color: blue
        transform: ['rotate(-theta, contact)', translate(-rl/2*tangent_vec)]
      N:
        formula: Force(contact - rl*normal_vec, contact, r'$N$', text_pos='start')
        style:
          linecolor: black
      wheel:
        formula: "Composition({'outer': rectangle})"
        style:
          shadow: 1
      mc:
        formula: Text(r'$c$', c)
      body:
        formula: "Composition({'wheel': wheel, 'N': N, 'mc': mc})"
        style:
          linecolor: black
  - name: plan
    shapes:
      mB:
        formula: Text(r'$B$',B)
      mA:
        formula: Text(r'$A$', A)
      wall:
        formula: Wall(x=[A[0], B[0]], y=[A[1], B[1]], thickness=-0.25,transparent=False)
        style:
          linecolor: black
      x_const:
        formula: Line(contact, contact + point(0,4))
        style:
          linestyle: dotted
        transform: rotate(-theta, contact)
      x_axis:
        formula: Axis(start=contact+ 2*rl*normal_vec, length=2*rl,label='$x$', rotation_angle=-theta)
      plan:
        formula: "Composition({'body': body, 'inclined wall': wall, 'x start': x_const,\
          \ 'x axis': x_axis, 'mA': mA, 'mB': mB})"
  - name: friction
    shapes:
      mg:
        formula: Gravity(c, rl, text='$Mg$')
        style:
          linecolor: black
      angle:
        formula: Arc_wText(r'$<bslash>theta$', center=B, radius=3, start_angle=180-theta,
          arc_angle=theta, fontsize=fontsize)
        style:
          linecolor: black
          linewidth: 1
      ground:
        formula: Line((B[0]-L/10., 0), (B[0]-L/2.,0))
        stlye:
          linecolor: black
          linestyle: dashed
          linewidth: 1
      friction:
        formula: "Composition({'plan': plan, 'ground': ground, 'mg': mg, 'angle':\
          \ angle})"