// Phun scene created by Phun beta 4.22

FileInfo.title = "Four-Bar Linkage";
FileInfo.author = "societyofrobots.com";
FileInfo.description = "An example of a walking gait using a four-bar linkage.";
FileInfo.version = 2;
Sim.gravity = [0.0, -9.80000019];
Sim.gravitySwitch = true;
Sim.airSwitch = true;
Sim.airFrictionLinear = 0.00999999978;
Sim.airFrictionQuadratic = 0.0;
Sim.rotFrictionLinear = 0.00999999978;
Sim.airDensity = 0.00999999978;
Sim.timeFactor = 1.0;
App.borders = true;
App.waterColor = [0.100000024, 0.100000024, 1.0, 0.699999988];
Scene.Camera.pan = [10.9276924, 4.54111433];
Scene.Camera.zoom = 28.4197063;
App.Background.cloudOpacity = 0.899999976;
App.Background.drawClouds = true;
App.Background.skyColor = [0.299999952, 0.400000066, 1.0, 1.0];
App.fadeColor = [0.0, 0.0, 0.0];
Scene.addPlane {
    geomID = 2107069;
    entityID = 373;
    color = [0.319000006, 0.824000001, 0.989000022, 1.0];
    heteroCollide = false;
    friction = 0.5;
    pos = [-0.278573394, -3.23731089];
    restitution = 0.5;
    zDepth = 0.0;
    collideWater = true;
    collideSet = -1;
    angle = 1.57079685
};
Scene.addPolygon {
    pos = [5668.07324, -2.16467524];
    geomID = 2107070;
    entityID = 374;
    controllerReverseXY = false;
    controllerInvertX = false;
    controllerInvertY = false;
    collideSet = 1;
    density = 2.0;
    color = [0.647000015, 0.550999999, 0.421999991, 1.0];
    controllerAcc = 10.8000002;
    zDepth = 1.0;
    collideWater = true;
    airFrictionMult = 1.0;
    restitution = 0.5;
    heteroCollide = false;
    vecs = [[-0.983674765, 1.9104296], [-1.08367312, 1.87792957], [-1.18367541, 1.84542966], [-1.28367388, 1.81292963], [-1.38367617, 1.78042972], [-1.48367465, 1.74792969], [-1.58367312, 1.71542966], [-1.6836735, 1.68292964], [-1.78367388, 1.65042973], [-1.88033831, 1.6170963], [-1.97700655, 1.583763], [-2.07367492, 1.5504297], [-2.17033935, 1.5170964], [-2.26700759, 1.45931864], [-2.36367202, 1.40154088], [-2.46034026, 1.34376311], [-2.55700469, 1.28598535], [-2.65367103, 1.22820771], [-2.75033927, 1.17042983], [-2.80100417, 1.08776331], [-2.85167098, 1.00509655], [-2.90233779, 0.922430098], [-2.95300651, 0.839763463], [-3.00367332, 0.757096827], [-3.01700759, 0.653763533], [-3.03033996, 0.550430238], [-2.99034095, 0.445430309], [-2.95034003, 0.340430349], [-2.91034102, 0.235430375], [-2.87034011, 0.130430415], [-2.79145217, 0.0670970678], [-2.71256232, 0.00376380561], [-2.63367248, -0.0595694631], [-2.55478454, -0.12290287], [-2.47589469, -0.186236069], [-2.39700675, -0.249569401], [-2.31700683, -0.287902683], [-2.2370069, -0.326236039], [-2.15700698, -0.364569336], [-2.07700706, -0.402902693], [-1.97950518, -0.422069281], [-1.88200724, -0.441235989], [-1.78450549, -0.460402697], [-1.68700564, -0.479569405], [-1.5895077, -0.498735994], [-1.49200594, -0.517902732], [-1.3945061, -0.537069321], [-1.29700625, -0.556236029], [-1.20200503, -0.559569359], [-1.10700762, -0.562902689], [-1.01201022, -0.566236019], [-0.917009115, -0.569569349], [-0.818120718, -0.566236019], [-0.719232321, -0.562902689], [-0.620340109, -0.559569359], [-0.521451712, -0.556236029], [-0.422563255, -0.552902699], [-0.323674858, -0.549569368], [-0.241452888, -0.522902608], [-0.159230903, -0.496235937], [-0.0770089254, -0.469569296], [-0.0970093831, -0.556236029], [-0.0836732015, -0.616235971], [-0.0436761007, -0.716235876], [-0.0203415956, -0.772902489], [0.00299290661, -0.829569221], [0.0429900065, -0.879569173], [0.082990922, -0.929569125], [0.139658257, -0.986235857], [0.196325585, -1.04290259], [0.279661477, -1.10290253], [0.362993538, -1.16290247], [0.43410331, -1.2073468], [0.505216837, -1.25179136], [0.576326609, -1.2962358], [0.660768747, -1.33845794], [0.745214701, -1.3806802], [0.829656839, -1.42290246], [0.931875467, -1.46068013], [1.03410184, -1.49845803], [1.13632429, -1.53623569], [1.24076688, -1.57179105], [1.34521329, -1.60734665], [1.44965971, -1.64290226], [1.53465879, -1.66290224], [1.61965787, -1.68290222], [1.70466077, -1.70290244], [1.78965986, -1.72290242], [1.88854825, -1.73179114], [1.98743665, -1.7406801], [2.08632493, -1.74956906], [2.18521333, -1.75845802], [2.28410172, -1.76734674], [2.38299012, -1.7762357], [2.48299241, -1.77290237], [2.58299088, -1.76956904], [2.67965531, -1.72623575], [2.77632356, -1.68290222], [2.77632356, -1.62290227], [2.7563231, -1.54956901], [2.76965928, -1.49623573], [2.80299211, -1.46290243], [2.86965775, -1.38623583], [2.9363234, -1.30956912], [2.96632218, -1.25623584], [2.99632478, -1.20290256], [3.02632737, -1.13956916], [3.05632615, -1.07623589], [3.06965852, -1.01290262], [3.08299088, -0.949569106], [3.07854676, -0.865124702], [3.07410264, -0.780680299], [3.06965852, -0.696235895], [3.04298997, -0.629569292], [3.01632524, -0.562902689], [2.94799256, -0.486236066], [2.87965989, -0.409569353], [2.8113234, -0.3329027], [2.74299073, -0.256236047], [2.66410279, -0.201791629], [2.58521104, -0.147347197], [2.5063231, -0.0929027796], [2.42743516, -0.0384583324], [2.34854722, 0.0159860346], [2.26965928, 0.0704304576], [2.18965745, 0.11376375], [2.10965943, 0.157097086], [2.02966142, 0.200430408], [1.94965971, 0.2437637], [1.84743726, 0.280430377], [1.74521482, 0.317097038], [1.64299238, 0.35376367], [1.54076993, 0.390430331], [1.43854749, 0.427096993], [1.33632505, 0.463763624], [1.24299085, 0.488208085], [1.14966047, 0.512652516], [1.05632627, 0.537096918], [0.952993631, 0.543763578], [0.849657297, 0.550430238], [0.786321878, 0.550430238], [0.722990274, 0.550430238], [0.65965867, 0.533763587], [0.596327066, 0.517096937], [0.569658518, 0.477096975], [0.542993784, 0.430430323], [0.522993326, 0.37043035], [0.496324837, 0.263763726], [0.462992013, 0.197097078], [0.436323464, 0.24709706], [0.40965873, 0.297097057], [0.382993996, 0.3537637], [0.356325448, 0.410430342], [0.316328347, 0.490430295], [0.276327431, 0.570430219], [0.231882378, 0.641541302], [0.187437341, 0.712652385], [0.142992303, 0.783763468], [0.0796568766, 0.863763452], [0.0163252745, 0.943763435], [-0.0470063314, 1.0237633], [-0.11034175, 1.10376322], [-0.173677161, 1.18376315], [-0.237008765, 1.26376319], [-0.310342491, 1.34820759], [-0.383672416, 1.432652], [-0.457006156, 1.5170964], [-0.518674612, 1.57876301], [-0.580339193, 1.64042962], [-0.642003775, 1.70209634], [-0.703672171, 1.76376295], [-0.770692587, 1.82172549], [-0.837713003, 1.87968814], [-0.904733419, 1.9376508]];
    friction = 0.5;
    angle = 0.339076221
};
Scene.addBox {
    pos = [12.6065264, 6.84621382];
    geomID = 2107071;
    entityID = 375;
    controllerReverseXY = false;
    controllerInvertX = false;
    controllerInvertY = false;
    collideSet = 1;
    density = 2.0;
    color = [0.788999975, 0.903999984, 0.791000009, 1.0];
    controllerAcc = 10.8000002;
    zDepth = 2.0;
    collideWater = true;
    airFrictionMult = 1.0;
    restitution = 0.5;
    heteroCollide = false;
    size = [4.28847027, 0.428847075];
    friction = 0.5;
    angle = -0.112808757
};
Scene.addBox {
    pos = [13.4698639, 5.06931353];
    geomID = 2107072;
    entityID = 376;
    controllerReverseXY = false;
    controllerInvertX = false;
    controllerInvertY = false;
    collideSet = 1;
    density = 2.0;
    color = [0.156000003, 0.305999994, 0.465999991, 1.0];
    controllerAcc = 10.8000002;
    zDepth = 3.0;
    collideWater = true;
    airFrictionMult = 1.0;
    restitution = 0.5;
    heteroCollide = false;
    size = [0.52074337, 7.07597685];
    friction = 0.5;
    angle = 0.948289216
};
Scene.addBox {
    pos = [12.1907549, 4.75899458];
    geomID = 2107073;
    entityID = 377;
    controllerReverseXY = false;
    controllerInvertX = false;
    controllerInvertY = false;
    collideSet = 0;
    density = 2.0;
    color = [0.915000021, 0.86500001, 0.245000005, 1.0];
    controllerAcc = 10.8000002;
    zDepth = 4.0;
    collideWater = true;
    airFrictionMult = 1.0;
    restitution = 0.5;
    heteroCollide = false;
    size = [2.69561052, 0.398215294];
    friction = 0.5;
    angle = -2.63242769
};
Scene.addHinge {
    motorSpeed = 2.3880446;
    ccw = true;
    autoBrake = false;
    geom0pos = [1.13908958, 0.0125906467];
    distanceLimit = +inf;
    entityID = 378;
    geom1pos = [11.1985254, 4.1947298];
    color = [0.5, 0.5, 0.5, 1.0];
    impulseLimit = +inf;
    size = 0.397124052;
    zDepth = 5.0;
    geom0 = 2107073;
    motor = true;
    motorTorque = +inf;
    geom1 = 0
};
Scene.addHinge {
    motorSpeed = 1.57079637;
    ccw = false;
    autoBrake = false;
    geom0pos = [0.050622493, 3.30542946];
    distanceLimit = +inf;
    entityID = 379;
    geom1pos = [-1.80205297, -0.0102539277];
    color = [0.5, 0.5, 0.5, 1.0];
    impulseLimit = +inf;
    size = 0.397124052;
    zDepth = 6.0;
    geom0 = 2107072;
    motor = false;
    motorTorque = 100.0;
    geom1 = 2107071
};
Scene.addHinge {
    motorSpeed = 1.57079637;
    ccw = false;
    autoBrake = false;
    geom0pos = [-1.11998701, -0.0139033347];
    distanceLimit = +inf;
    entityID = 380;
    geom1pos = [0.0232642684, 0.393313795];
    color = [0.5, 0.5, 0.5, 1.0];
    impulseLimit = +inf;
    size = 0.30096373;
    zDepth = 7.0;
    geom0 = 2107073;
    motor = false;
    motorTorque = 100.0;
    geom1 = 2107072
};
Scene.addHinge {
    motorSpeed = 1.57079637;
    ccw = false;
    autoBrake = false;
    geom0pos = [1.83998156, -0.00652140286];
    distanceLimit = +inf;
    entityID = 381;
    geom1pos = [14.4372311, 6.63275528];
    color = [0.5, 0.5, 0.5, 1.0];
    impulseLimit = +inf;
    size = 0.345716536;
    zDepth = 8.0;
    geom0 = 2107071;
    motor = false;
    motorTorque = 100.0;
    geom1 = 0
};
Scene.addPen {
    fadeTime = 10.0;
    entityID = 382;
    color = [0.958999991, 0.0, 0.0, 1.0];
    geom = 2107072;
    size = 0.691433012;
    relPoint = [0.0248844307, -3.29878092];
    zDepth = 9.0
};
Scene.addGroup {
    name = "selected";
    entityIDs = []
}