function kyvadlo

m2 = 1;
I2 = 0.5;
L = 3;
f0 = 5/180*pi;

x1 = [0 0];
x2 = x1 + [L*sin(f0) -L*cos(f0)];

C{1} = struct('M',[0 0 0],'x',[0 0 0]','v',[0 0 0]','xtisk',[0 0],'ytisk',[0 0],'Q',[0 0 0]); % ram
C{2} = struct('M',[m2 m2 I2],'x',[(x1+x2)/2 0]','v',[0 0 0]','xtisk',[x1(1) x2(1)],'ytisk',[x1(2) x2(2)],'Q',[0 0 0]);

% definice vazeb
V{1} = struct('typ',1,'T1',2,'T2',1,'xr',x1');

dt = 0.01;
grav = [0 -9.81 0];
n_iter = 500;

% spusteni simulace
[C,V,t] = run(C, V, grav, dt, n_iter, 1);

tisk_teleso(t,C,2);

tisk_reakce(t,V,1);