/************************TRICK HEADER*************************
PURPOSE:
    (blah blah blah)
LIBRARY DEPENDENCIES:
    (
    )
*************************************************************/

#include "sim_objects/default_trick_sys.sm"

##include "Ball++/L1/include/Ball.hh"

/**
  This class is the base ball class
 */
class ballSimObject : public Trick::SimObject {

    public:
        /** The actual ball object */
        Ball obj ;

        /** Constructor to add the jobs */
        ballSimObject() {
            ("default_data") obj.force.default_data() ;
            ("default_data") obj.state.default_data() ;

            ("initialization") obj.state_init() ;

            ("derivative") obj.force_field() ;
            ("derivative") obj.state_deriv() ;
            ("integration") trick_ret = obj.state_integ() ;

            {BLUE} (10.0, "scheduled") trick_ret = obj.state_print() ;

            //C1 (10.0, "scheduled") obj.state_print() ;
            //C2 (10.0, "scheduled") obj.state_print() ;

            ("freeze") obj.state_print() ;

            ("shutdown") obj.shutdown() ;
        }
} ;

class DerivedBallSimObject : public ballSimObject {
    public:
        int print_me() {
            message_publish( MSG_NORMAL , "In derived ball job\n" ) ;
        }
        DerivedBallSimObject() {
            (10.0, "scheduled") print_me() ;
        }
}

// Instantiations
DerivedBallSimObject ball ;

IntegLoop my_integ_loop (0.01) ball;

// Connect objects
void create_connections() {

    // Set the default termination time
    trick_sys.sched.set_terminate_time(300.0) ;
    trick_sys.sched.set_freeze_frame(0.10) ;

    ball.obj.state.add_external_force( ball.obj.force.output.force ) ;

    my_integ_loop.getIntegrator( Runge_Kutta_2, 4);

}