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/* How many things can we have in the simulator? */
#define MAX_N_ARMS 1
#define MAX_N_BLOCKS 10

/*****************************************************************************/
/*****************************************************************************/
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typedef struct simulator
{
  float time;  		        /* seconds */
  float time_step;   		/* seconds */

  float gravity;
  float cart_mass;
  float pole_mass;
  float total_mass;
  float pole_I;
  float pole_length;
  float pole_cm;
  float pole_I_base;
  float cart_damping;
  float pole_damping;
  float force_magnitude;

  float cart_x;
  float cart_y;
  float pole_angle;

  float cart_xd;
  float pole_angled;

  float cart_xdd;
  float pole_angledd;

  float cart_force;
  float pole_torque;
  
  float cart_x_desired;
  float pole_angle_desired;
  float k_cart;
  float b_cart;
  float k_pole;
  float b_pole;

  float sin_pole_angle;
  float cos_pole_angle;

  float min_x_display;
  float min_y_display;
  float max_x_display;
  float max_y_display;

  float cart_xd_next;
  float pole_angled_next;

  float ke_translation;
  float ke_rotation;
  float pe_gravity;
  float pe_spring;
  float energy;

  float max_excursion; /* How far does cart go before we give up. */
  float max_angle; /* How far is pole tipped over before we give up. */

} Simulator, *pSimulator;

/*****************************************************************************/
/*****************************************************************************/
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typedef struct communication_buffer
{

  int playing;
  float time;

  pSimulator ps;

} Communication_Buffer;

/*****************************************************************************/
/*****************************************************************************/