/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2020 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
*/

/*! \file SphereNEDSPlanR.hpp

  \brief Newton Euler sphere relation with a plan Ax+By+Cz+D=0

*/

#ifndef SphereNEDSPlanR_h
#define SphereNEDSPlanR_h

#include "MechanicsFwd.hpp"
#include "NewtonEuler3DR.hpp"

class SphereNEDSPlanR : public NewtonEuler3DR, public std::enable_shared_from_this<SphereNEDSPlanR>
{
private:
  /** serialization hooks
  */
  ACCEPT_SERIALIZATION(SphereNEDSPlanR);


  /* Ax + By + Cz + D = 0 */
  double r, A, B, C, D, nN, nU;
  /* u ^ v  = n */
  double u1, u2, u3, v1, v2, v3, n1, n2, n3, ru1, ru2, ru3, rv1, rv2, rv3;

  SphereNEDSPlanR() {};

public:

  /** Constructor

  \param r disk radius
  \param A
  \param B
  \param C
  \param D
  */
  SphereNEDSPlanR(double r, double A, double B, double C,  double  D);

  double distance(double, double, double, double);

  /** to compute the output y = h(t,q,z) of the Relation
      \param time current time value
      \param q coordinates of the dynamical systems involved in the relation
      \param y the resulting vector
  */
  void computeh(double time, const BlockVector& q0, SiconosVector& y);

  //void computeJachq(double);

  bool equal(double _A, double _B, double _C, double _D, double _r) const
  {
    return (A == _A && B == _B && C == _C && D == _D && r == _r) ;
  }

  /** visitors hook
   */
  ACCEPT_VISITORS();

};
#endif /* SphereNEDSPlanR_h */
