/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Header:       FGGroundReactions.h
 Author:       Jon S. Berndt
 Date started: 09/13/00

 ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------

 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser General Public License as published by the Free Software
 Foundation; either version 2 of the License, or (at your option) any later
 version.

 This program is distributed in the hope that it will be useful, but WITHOUT
 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
 details.

 You should have received a copy of the GNU Lesser General Public License along with
 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 Place - Suite 330, Boston, MA  02111-1307, USA.

 Further information about the GNU Lesser General Public License can also be found on
 the world wide web at http://www.gnu.org.

HISTORY
--------------------------------------------------------------------------------
09/13/00   JSB   Created

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef FGGROUNDREACTIONS_H
#define FGGROUNDREACTIONS_H

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <vector>

#include "FGModel.h"
#include "FGLGear.h"
#include <math/FGColumnVector3.h>
#include <input_output/FGXMLElement.h>

#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.4 2008/07/22 08:49:16 ehofman Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

namespace JSBSim {

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/** Manages ground reactions modeling. Maintains a list of landing gear and
    ground contact points, all instances of FGLGear.  Sums their forces and
    moments so that these may be provided to FGPropagate.  Parses the 
    \<ground_reactions> section of the aircraft configuration file.
 <h3>Configuration File Format of \<ground_reactions> Section:</h3>
@code
    <ground_reactions>
        <contact>
           ... {see FGLGear for specifics of this format}
        </contact>
        ... {more contacts}
    </ground_reactions>
@endcode   


  */

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGGroundReactions : public FGModel
{
public:
  FGGroundReactions(FGFDMExec*);
  ~FGGroundReactions(void);

  bool InitModel(void);
  bool Run(void);
  bool Load(Element* el);
  FGColumnVector3& GetForces(void) {return vForces;}
  double GetForces(int idx) const {return vForces(idx);}
  FGColumnVector3& GetMoments(void) {return vMoments;}
  double GetMoments(int idx) const {return vMoments(idx);}
  string GetGroundReactionStrings(string delimeter);
  string GetGroundReactionValues(string delimeter);
  bool GetWOW(void);

  int GetNumGearUnits(void) const { return (int)lGear.size(); }

  /** Gets a gear instance
      @param gear index of gear instance
      @return a pointer to the FGLGear instance of the gear unit requested */
  inline FGLGear* GetGearUnit(int gear) { return lGear[gear]; }

private:
  vector <FGLGear*> lGear;
  FGColumnVector3 vForces;
  FGColumnVector3 vMoments;

  void bind(void);
  void Debug(int from);
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif

