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More tweaks to the automake/conf configuration scripts.
[flightgear.git] / src / FDM / JSBSim / FGGroundReactions.cpp
1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3  Module:       FGGroundReactions.cpp
4  Author:       Jon S. Berndt
5  Date started: 09/13/00
6  Purpose:      Encapsulates the ground reaction forces (gear and collision)
7
8  ------------- Copyright (C) 2000  Jon S. Berndt (jsb@hal-pc.org) -------------
9
10  This program is free software; you can redistribute it and/or modify it under
11  the terms of the GNU General Public License as published by the Free Software
12  Foundation; either version 2 of the License, or (at your option) any later
13  version.
14
15  This program is distributed in the hope that it will be useful, but WITHOUT
16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
17  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
18  details.
19
20  You should have received a copy of the GNU General Public License along with
21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22  Place - Suite 330, Boston, MA  02111-1307, USA.
23
24  Further information about the GNU General Public License can also be found on
25  the world wide web at http://www.gnu.org.
26
27 FUNCTIONAL DESCRIPTION
28 --------------------------------------------------------------------------------
29
30 HISTORY
31 --------------------------------------------------------------------------------
32 09/13/00   JSB   Created
33
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 INCLUDES
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37
38 #include "FGGroundReactions.h"
39 #include "FGPropertyManager.h"
40
41 static const char *IdSrc = "$Id$";
42 static const char *IdHdr = ID_GROUNDREACTIONS;
43
44 #if defined (__APPLE__)
45 /* Not all systems have the gcvt function */
46 inline char* gcvt (double value, int ndigits, char *buf) {
47     /* note that this is not exactly what gcvt is supposed to do! */
48     snprintf (buf, ndigits+1, "%f", value);
49     return buf;
50 }
51 #endif
52
53 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 CLASS IMPLEMENTATION
55 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56
57
58 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
59 {
60   Name = "FGGroundReactions";
61   
62   bind();
63
64   Debug(0);
65 }
66
67 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
68
69 FGGroundReactions::~FGGroundReactions(void)
70 {
71   unbind();
72
73   Debug(1);
74 }
75
76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77
78 bool FGGroundReactions::Run(void)
79 {
80   if (!FGModel::Run()) {
81     vForces.InitMatrix();
82     vMoments.InitMatrix();
83
84     // Only execute gear force code below 300 feet
85     if ( Position->GetDistanceAGL() < 300.0 ) {
86       vector <FGLGear>::iterator iGear = lGear.begin();
87       // Sum forces and moments for all gear, here.
88       // Some optimizations may be made here - or rather in the gear code itself.
89       // The gear ::Run() method is called several times - once for each gear.
90       // Perhaps there is some commonality for things which only need to be
91       // calculated once.
92       while (iGear != lGear.end()) {
93         vForces  += iGear->Force();
94         vMoments += iGear->Moment();
95         iGear++;
96       }
97
98     } else {
99       // Crash Routine
100     }
101
102     return false;
103   } else {
104     return true;
105   }
106 }
107
108 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
109
110 bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
111 {
112   string token;
113
114   AC_cfg->GetNextConfigLine();
115
116   while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
117     lGear.push_back(FGLGear(AC_cfg, FDMExec));
118   }
119
120   return true;
121 }
122
123 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
124
125 string FGGroundReactions::GetGroundReactionStrings(void)
126 {
127   string GroundReactionStrings = "";
128   bool firstime = true;
129
130   for (unsigned int i=0;i<lGear.size();i++) {
131     if (!firstime) GroundReactionStrings += ", ";
132     GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
133     GroundReactionStrings += (lGear[i].GetName() + "_stroke, ");
134     GroundReactionStrings += (lGear[i].GetName() + "_strokeVel, ");
135     GroundReactionStrings += (lGear[i].GetName() + "_CompressForce, ");
136     GroundReactionStrings += (lGear[i].GetName() + "_WhlSideForce, ");
137     GroundReactionStrings += (lGear[i].GetName() + "_WhlVelVecX, ");
138     GroundReactionStrings += (lGear[i].GetName() + "_WhlVelVecY, ");
139     GroundReactionStrings += (lGear[i].GetName() + "_WhlRollForce, ");
140     GroundReactionStrings += (lGear[i].GetName() + "_BodyXForce, ");
141     GroundReactionStrings += (lGear[i].GetName() + "_BodyYForce, ");
142     GroundReactionStrings += (lGear[i].GetName() + "_WhlSlipDegrees");
143
144     firstime = false;
145   }
146
147   GroundReactionStrings += ", TotalGearForce_X, ";
148   GroundReactionStrings += "TotalGearForce_Y, ";
149   GroundReactionStrings += "TotalGearForce_Z, ";
150   GroundReactionStrings += "TotalGearMoment_L, ";
151   GroundReactionStrings += "TotalGearMoment_M, ";
152   GroundReactionStrings += "TotalGearMoment_N";
153
154   return GroundReactionStrings;
155 }
156
157 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
158
159 string FGGroundReactions::GetGroundReactionValues(void)
160 {
161   char buff[20];
162   string GroundReactionValues = "";
163
164   bool firstime = true;
165
166   for (unsigned int i=0;i<lGear.size();i++) {
167     if (!firstime) GroundReactionValues += ", ";
168     GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
169     GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(),    5, buff)) + ", ");
170     GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(),    6, buff)) + ", ");
171     GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)) + ", ");
172     GroundReactionValues += (string(gcvt(lGear[i].GetWheelVel(eX), 6, buff)) + ", ");
173     GroundReactionValues += (string(gcvt(lGear[i].GetWheelVel(eY), 6, buff)) + ", ");
174     GroundReactionValues += (string(gcvt(lGear[i].GetWheelSideForce(), 6, buff)) + ", ");
175     GroundReactionValues += (string(gcvt(lGear[i].GetWheelRollForce(), 6, buff)) + ", ");
176     GroundReactionValues += (string(gcvt(lGear[i].GetBodyXForce(), 6, buff)) + ", ");
177     GroundReactionValues += (string(gcvt(lGear[i].GetBodyYForce(), 6, buff)) + ", ");
178     GroundReactionValues += (string(gcvt(lGear[i].GetWheelSlipAngle(), 6, buff)));
179
180     firstime = false;
181   }
182
183   GroundReactionValues += (", " + string(gcvt(vForces(eX), 6, buff)) + ", ");
184   GroundReactionValues += (string(gcvt(vForces(eY), 6, buff)) + ", ");
185   GroundReactionValues += (string(gcvt(vForces(eZ), 6, buff)) + ", ");
186   GroundReactionValues += (string(gcvt(vMoments(eX), 6, buff)) + ", ");
187   GroundReactionValues += (string(gcvt(vMoments(eY), 6, buff)) + ", ");
188   GroundReactionValues += (string(gcvt(vMoments(eZ), 6, buff)));
189
190   return GroundReactionValues;
191 }
192
193 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
194
195 void FGGroundReactions::bind(void)
196
197   typedef double (FGGroundReactions::*PMF)(int) const;
198   PropertyManager->Tie("gear/num-units", this,
199                        &FGGroundReactions::GetNumGearUnits);  
200   PropertyManager->Tie("moments/l-gear-lbsft", this,1,
201                        (PMF)&FGGroundReactions::GetMoments);
202   PropertyManager->Tie("moments/m-gear-lbsft", this,2,
203                        (PMF)&FGGroundReactions::GetMoments);
204   PropertyManager->Tie("moments/n-gear-lbsft", this,3,
205                        (PMF)&FGGroundReactions::GetMoments);
206   PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
207                        (PMF)&FGGroundReactions::GetForces);
208   PropertyManager->Tie("forces/fby-gear-lbs", this,2,
209                        (PMF)&FGGroundReactions::GetForces);
210   PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
211                        (PMF)&FGGroundReactions::GetForces);
212 }
213
214 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
215
216 void FGGroundReactions::unbind(void)
217 {
218   PropertyManager->Untie("gear/num-units");
219   PropertyManager->Untie("moments/l-gear-lbsft");
220   PropertyManager->Untie("moments/m-gear-lbsft");
221   PropertyManager->Untie("moments/n-gear-lbsft");
222   PropertyManager->Untie("forces/fbx-gear-lbs");
223   PropertyManager->Untie("forces/fby-gear-lbs");
224   PropertyManager->Untie("forces/fbz-gear-lbs");
225 }
226
227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
228 //    The bitmasked value choices are as follows:
229 //    unset: In this case (the default) JSBSim would only print
230 //       out the normally expected messages, essentially echoing
231 //       the config files as they are read. If the environment
232 //       variable is not set, debug_lvl is set to 1 internally
233 //    0: This requests JSBSim not to output any messages
234 //       whatsoever.
235 //    1: This value explicity requests the normal JSBSim
236 //       startup messages
237 //    2: This value asks for a message to be printed out when
238 //       a class is instantiated
239 //    4: When this value is set, a message is displayed when a
240 //       FGModel object executes its Run() method
241 //    8: When this value is set, various runtime state variables
242 //       are printed out periodically
243 //    16: When set various parameters are sanity checked and
244 //       a message is printed out when they go out of bounds
245
246 void FGGroundReactions::Debug(int from)
247 {
248   if (debug_lvl <= 0) return;
249
250   if (debug_lvl & 1) { // Standard console startup message output
251     if (from == 0) { // Constructor
252
253     }
254   }
255   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
256     if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
257     if (from == 1) cout << "Destroyed:    FGGroundReactions" << endl;
258   }
259   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
260   }
261   if (debug_lvl & 8 ) { // Runtime state variables
262   }
263   if (debug_lvl & 16) { // Sanity checking
264   }
265   if (debug_lvl & 64) {
266     if (from == 0) { // Constructor
267       cout << IdSrc << endl;
268       cout << IdHdr << endl;
269     }
270   }
271 }
272