1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
19 You should have received a copy of the GNU General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
28 --------------------------------------------------------------------------------
32 FUNCTIONAL DESCRIPTION
33 --------------------------------------------------------------------------------
35 The purpose of this class is to provide storage for computed forces and
36 encapsulate all the functionality associated with transforming those
37 forces from their native coord system to the body system. This includes
38 computing the moments due to the difference between the point of application
43 #include "FGFDMExec.h"
44 #include "FGAircraft.h"
45 #include "FGTranslation.h"
46 #include "FGMassBalance.h"
52 static const char *IdSrc = "$Id$";
53 static const char *IdHdr = ID_FORCE;
55 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 FGForce::FGForce(FGFDMExec *FDMExec) :
61 mT(1,1) = 1; //identity matrix
68 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 FGColumnVector3& FGForce::GetBodyForces(void)
79 vFb = Transform()*(vFn.multElementWise(vSense));
81 // Find the distance from this vector's acting location to the cg; this
82 // needs to be done like this to convert from structural to body coords.
83 // CG and RP values are in inches
85 vDXYZ = fdmex->GetMassBalance()->StructuralToBody(vActingXYZn);
92 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
94 FGMatrix33 FGForce::Transform(void)
98 return fdmex->GetState()->GetTs2b();
100 return fdmex->GetState()->GetTl2b();
105 cout << "Unrecognized tranform requested from FGForce::Transform()" << endl;
110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
112 void FGForce::SetAnglesToBody(double broll, double bpitch, double byaw)
114 if (ttype == tCustom) {
115 double cp,sp,cr,sr,cy,sy;
117 cp=cos(bpitch); sp=sin(bpitch);
118 cr=cos(broll); sr=sin(broll);
119 cy=cos(byaw); sy=sin(byaw);
125 mT(2,1)=sr*sp*cy-cr*sy;
126 mT(2,2)=sr*sp*sy+cr*cy;
129 mT(3,1)=cr*sp*cy+sr*sy;
130 mT(3,2)=cr*sp*sy-sr*cy;
135 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
136 // The bitmasked value choices are as follows:
137 // unset: In this case (the default) JSBSim would only print
138 // out the normally expected messages, essentially echoing
139 // the config files as they are read. If the environment
140 // variable is not set, debug_lvl is set to 1 internally
141 // 0: This requests JSBSim not to output any messages
143 // 1: This value explicity requests the normal JSBSim
145 // 2: This value asks for a message to be printed out when
146 // a class is instantiated
147 // 4: When this value is set, a message is displayed when a
148 // FGModel object executes its Run() method
149 // 8: When this value is set, various runtime state variables
150 // are printed out periodically
151 // 16: When set various parameters are sanity checked and
152 // a message is printed out when they go out of bounds
154 void FGForce::Debug(int from)
156 if (debug_lvl <= 0) return;
158 if (debug_lvl & 1) { // Standard console startup message output
159 if (from == 0) { // Constructor
163 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
164 if (from == 0) cout << "Instantiated: FGForce" << endl;
165 if (from == 1) cout << "Destroyed: FGForce" << endl;
167 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
169 if (debug_lvl & 8 ) { // Runtime state variables
171 if (debug_lvl & 16) { // Sanity checking
173 if (debug_lvl & 64) {
174 if (from == 0) { // Constructor
175 cout << IdSrc << endl;
176 cout << IdHdr << endl;