trick/trick_sims/Ball/SIM_ball_L1/S_define

/************************TRICK HEADER*************************
PURPOSE:
    (This Trick header comment lists out simulation model file dependencies that are not c++.
     The model files are complete relative path to the "C" file and not the object file as
     in the source code comments.  Multiple trick comments with multiple sets of
     LIBRARY DEPENDENCIES are allowed in the S_define file.)
LIBRARY DEPENDENCIES:
    (
    )
DEFAULT DATA:
    (
    )
*************************************************************/

/*
 * There are 2 types of include files in Trick 10 S_define files.  The single "#"
 * include files are processed with the S_define file is parsed. Therefore any files
 * that are single "#" included will be processed by CP.  Files with a single "#"
 * usually include SimObject definitions and instantiations.
 *
 * Files with a double "##" are passed to S_source.hh.  They are not processed by
 * CP except for stripping a "#" and copying the resultant string to S_source.hh.
 * files with a double "##" usually contain structure/class definitions of the models
 * used in the simulation.
 */

/*
 * default_trick_sys.sm contains the default Trick system SimObjects and instantiations.
 * Users are free to include a different file that lists out a different set of
 * system objects.
 */
#include "sim_objects/default_trick_sys.sm"

/*
 * Header files that contain structure/class definitions are included using the
 * double "##" notation.
 */
##include "ball/L1/include/ball_state.h"
##include "ball/L1/include/ball_force.h"
##include "ball/L1/include/ball_proto.h"

/*
 * %header{ ... %} is a new feature in Trick 10 that copys user code to the S_source.hh
 */
%header{

/*
 * Header files listed here will be included in S_source.hh but not be input processed.
 * If the prototype file ball_proto.h was included here, the simulation would have
 * compiled, but the ball routines would not be available in the input processor.
 */
// ##include "ball/L1/include/ball_proto.h"

%}

/*
 * %{ ... %} contains user code that is copied into S_source.cpp
 */
%{

// This user code section is empty for this simulation

%}

/*
 * sim_objects are defined and instantiated separately in Trick 10 S_define files.
 * Each sim_object is a C++ class definition.  Each sim_object class must inherit
 * from "public Trick::SimObject" or another SimObject.
 *
 */
class ballSimObject : public Trick::SimObject {

    /*
     * Data members and functions may be public or private.  If members are
     * labled private they will not be available in the input processor.
     */
    public:

        /*
         * Model structures/classes are declared as member data in the SimObject
         */
        BSTATE      state ;
        BFORCE      force ;

        /*
         * Jobs are declared in the constructors of the SimObject.  The job syntax is
         * unchanged from Trick 07.  The constructors may have arguments which may be
         * used as job. state and force are zeroed out at construction time using the
         * ballSimObject() constructor initializer list.
         */
        ballSimObject() : state() , force() {

            /*
             * One of several ways to get default data into the simulation is to create
             * default data class jobs.  default_data class jobs are run before initialization
             */

            ("default_data") ball_state_default_data( &state ) ;
            ("default_data") ball_force_default_data( &force ) ;

            // INITIALIZATION JOBS
            ("initialization") ball_state_init( &state ) ;

            // EOM DERIVATIVE AND STATE INTEGRATION JOBS
            ("derivative") ball_force_field( &force, state.output.position ) ;
            ("derivative") ball_state_deriv( &state ) ;
            ("integration") trick_ret = ball_state_integ( &state ) ;

            (10.0 , "scheduled") ball_print( &state ) ;
        }

} ;

/*
 * SimObjects are instantiated.  SimObjects may be multiply instantiated.
 */
ballSimObject ball ;


collect ball.state.work.external_force = { ball.force.output.force[0] };

/*
 * Integrate statements have an argument after the integrate keyword that
 * specifies the name of the integrator SimObject.  This name is accessible
 * within the input processor.
 */
integrate my_integ_loop (0.01) ball;


#define NUM_VARIABLES   4   /* x,y position state and x,y velocity state */

/*
 * All code listed in the create_connections routine is copied into S_source.cpp and is
 * executed directly after simobject instantiations.  This routine may be used to
 * to connect data structures between SimObjects.
 */
void create_connections() {

    // We can set a default integrator here.  This can be overridden in the input file.
    my_integ_loop.getIntegrator( Runge_Kutta_2, NUM_VARIABLES);
}