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

 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 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 General Public License for more
 details.

 You should have received a copy of the GNU 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 General Public License can also be found on
 the world wide web at http://www.gnu.org.

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

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES,  and NOTES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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

#ifndef FGGROUNDREACTIONS_H
#define FGGROUNDREACTIONS_H

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

#ifdef FGFS
#  include <simgear/compiler.h>
#  ifdef SG_HAVE_STD_INCLUDES
#    include <vector>
#  else
#    include <vector.h>
#  endif
#else
#  include <vector>
#endif

#include "FGModel.h"
#include "FGConfigFile.h"
#include "FGLGear.h"
#include "FGInertial.h"
#include "FGMatrix33.h"

#define ID_GROUNDREACTIONS "$Id$"

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

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

  bool Run(void);
  bool Load(FGConfigFile* AC_cfg);
  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(void);
  string GetGroundReactionValues(void);
  
  inline int GetNumGearUnits(void) const { return 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]); }
  
  void bind(void);
  void unbind(void);

private:
  vector <FGLGear> lGear;
  FGColumnVector3 vForces;
  FGColumnVector3 vMoments;
  FGColumnVector3 vMaxStaticGrip;
  FGColumnVector3 vMaxMomentResist;

  void Debug(int from);
};

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif