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 namespace JSBSim {
  42
  43 static const char *IdSrc = "$Id$";
  44 static const char *IdHdr = ID_GROUNDREACTIONS;
  45
  46 #if defined (__APPLE__)
  47 /* Not all systems have the gcvt function */
  48 inline char* gcvt (double value, int ndigits, char *buf) {
  49     /* note that this is not exactly what gcvt is supposed to do! */
  50     snprintf (buf, ndigits+1, "%f", value);
  51     return buf;
  52 }
  53 #endif
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 CLASS IMPLEMENTATION
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59
  60 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
  61 {
  62   Name = "FGGroundReactions";
  63
  64   bind();
  65
  66   Debug(0);
  67 }
  68
  69 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70
  71 FGGroundReactions::~FGGroundReactions(void)
  72 {
  73   unbind();
  74
  75   Debug(1);
  76 }
  77
  78 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  79
  80 bool FGGroundReactions::Run(void)
  81 {
  82   if (!FGModel::Run()) {
  83     vForces.InitMatrix();
  84     vMoments.InitMatrix();
  85
  86     // Only execute gear force code below 300 feet
  87     if ( Position->GetDistanceAGL() < 300.0 ) {
  88       vector <FGLGear>::iterator iGear = lGear.begin();
  89       // Sum forces and moments for all gear, here.
  90       // Some optimizations may be made here - or rather in the gear code itself.
  91       // The gear ::Run() method is called several times - once for each gear.
  92       // Perhaps there is some commonality for things which only need to be
  93       // calculated once.
  94       while (iGear != lGear.end()) {
  95         vForces  += iGear->Force();
  96         vMoments += iGear->Moment();
  97         iGear++;
  98       }
  99
 100     } else {
 101       // Crash Routine
 102     }
 103
 104     return false;
 105   } else {
 106     return true;
 107   }
 108 }
 109
 110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 111
 112 bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
 113 {
 114   string token;
 115
 116   AC_cfg->GetNextConfigLine();
 117
 118   while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
 119     lGear.push_back(FGLGear(AC_cfg, FDMExec));
 120   }
 121
 122   return true;
 123 }
 124
 125 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 126
 127 string FGGroundReactions::GetGroundReactionStrings(void)
 128 {
 129   string GroundReactionStrings = "";
 130   bool firstime = true;
 131
 132   for (unsigned int i=0;i<lGear.size();i++) {
 133     if (!firstime) GroundReactionStrings += ", ";
 134     GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
 135     GroundReactionStrings += (lGear[i].GetName() + "_stroke, ");
 136     GroundReactionStrings += (lGear[i].GetName() + "_strokeVel, ");
 137     GroundReactionStrings += (lGear[i].GetName() + "_CompressForce, ");
 138     GroundReactionStrings += (lGear[i].GetName() + "_WhlSideForce, ");
 139     GroundReactionStrings += (lGear[i].GetName() + "_WhlVelVecX, ");
 140     GroundReactionStrings += (lGear[i].GetName() + "_WhlVelVecY, ");
 141     GroundReactionStrings += (lGear[i].GetName() + "_WhlRollForce, ");
 142     GroundReactionStrings += (lGear[i].GetName() + "_BodyXForce, ");
 143     GroundReactionStrings += (lGear[i].GetName() + "_BodyYForce, ");
 144     GroundReactionStrings += (lGear[i].GetName() + "_WhlSlipDegrees");
 145
 146     firstime = false;
 147   }
 148
 149   GroundReactionStrings += ", TotalGearForce_X, ";
 150   GroundReactionStrings += "TotalGearForce_Y, ";
 151   GroundReactionStrings += "TotalGearForce_Z, ";
 152   GroundReactionStrings += "TotalGearMoment_L, ";
 153   GroundReactionStrings += "TotalGearMoment_M, ";
 154   GroundReactionStrings += "TotalGearMoment_N";
 155
 156   return GroundReactionStrings;
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 string FGGroundReactions::GetGroundReactionValues(void)
 162 {
 163   char buff[20];
 164   string GroundReactionValues = "";
 165
 166   bool firstime = true;
 167
 168   for (unsigned int i=0;i<lGear.size();i++) {
 169     if (!firstime) GroundReactionValues += ", ";
 170     GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
 171     GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(),    5, buff)) + ", ");
 172     GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(),    6, buff)) + ", ");
 173     GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)) + ", ");
 174     GroundReactionValues += (string(gcvt(lGear[i].GetWheelVel(eX), 6, buff)) + ", ");
 175     GroundReactionValues += (string(gcvt(lGear[i].GetWheelVel(eY), 6, buff)) + ", ");
 176     GroundReactionValues += (string(gcvt(lGear[i].GetWheelSideForce(), 6, buff)) + ", ");
 177     GroundReactionValues += (string(gcvt(lGear[i].GetWheelRollForce(), 6, buff)) + ", ");
 178     GroundReactionValues += (string(gcvt(lGear[i].GetBodyXForce(), 6, buff)) + ", ");
 179     GroundReactionValues += (string(gcvt(lGear[i].GetBodyYForce(), 6, buff)) + ", ");
 180     GroundReactionValues += (string(gcvt(lGear[i].GetWheelSlipAngle(), 6, buff)));
 181
 182     firstime = false;
 183   }
 184
 185   GroundReactionValues += (", " + string(gcvt(vForces(eX), 6, buff)) + ", ");
 186   GroundReactionValues += (string(gcvt(vForces(eY), 6, buff)) + ", ");
 187   GroundReactionValues += (string(gcvt(vForces(eZ), 6, buff)) + ", ");
 188   GroundReactionValues += (string(gcvt(vMoments(eX), 6, buff)) + ", ");
 189   GroundReactionValues += (string(gcvt(vMoments(eY), 6, buff)) + ", ");
 190   GroundReactionValues += (string(gcvt(vMoments(eZ), 6, buff)));
 191
 192   return GroundReactionValues;
 193 }
 194
 195 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 196
 197 void FGGroundReactions::bind(void)
 198 {
 199   typedef double (FGGroundReactions::*PMF)(int) const;
 200   PropertyManager->Tie("gear/num-units", this,
 201                        &FGGroundReactions::GetNumGearUnits);
 202   PropertyManager->Tie("moments/l-gear-lbsft", this,1,
 203                        (PMF)&FGGroundReactions::GetMoments);
 204   PropertyManager->Tie("moments/m-gear-lbsft", this,2,
 205                        (PMF)&FGGroundReactions::GetMoments);
 206   PropertyManager->Tie("moments/n-gear-lbsft", this,3,
 207                        (PMF)&FGGroundReactions::GetMoments);
 208   PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
 209                        (PMF)&FGGroundReactions::GetForces);
 210   PropertyManager->Tie("forces/fby-gear-lbs", this,2,
 211                        (PMF)&FGGroundReactions::GetForces);
 212   PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
 213                        (PMF)&FGGroundReactions::GetForces);
 214 }
 215
 216 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 217
 218 void FGGroundReactions::unbind(void)
 219 {
 220   PropertyManager->Untie("gear/num-units");
 221   PropertyManager->Untie("moments/l-gear-lbsft");
 222   PropertyManager->Untie("moments/m-gear-lbsft");
 223   PropertyManager->Untie("moments/n-gear-lbsft");
 224   PropertyManager->Untie("forces/fbx-gear-lbs");
 225   PropertyManager->Untie("forces/fby-gear-lbs");
 226   PropertyManager->Untie("forces/fbz-gear-lbs");
 227 }
 228
 229 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 230 //    The bitmasked value choices are as follows:
 231 //    unset: In this case (the default) JSBSim would only print
 232 //       out the normally expected messages, essentially echoing
 233 //       the config files as they are read. If the environment
 234 //       variable is not set, debug_lvl is set to 1 internally
 235 //    0: This requests JSBSim not to output any messages
 236 //       whatsoever.
 237 //    1: This value explicity requests the normal JSBSim
 238 //       startup messages
 239 //    2: This value asks for a message to be printed out when
 240 //       a class is instantiated
 241 //    4: When this value is set, a message is displayed when a
 242 //       FGModel object executes its Run() method
 243 //    8: When this value is set, various runtime state variables
 244 //       are printed out periodically
 245 //    16: When set various parameters are sanity checked and
 246 //       a message is printed out when they go out of bounds
 247
 248 void FGGroundReactions::Debug(int from)
 249 {
 250   if (debug_lvl <= 0) return;
 251
 252   if (debug_lvl & 1) { // Standard console startup message output
 253     if (from == 0) { // Constructor
 254
 255     }
 256   }
 257   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 258     if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
 259     if (from == 1) cout << "Destroyed:    FGGroundReactions" << endl;
 260   }
 261   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 262   }
 263   if (debug_lvl & 8 ) { // Runtime state variables
 264   }
 265   if (debug_lvl & 16) { // Sanity checking
 266   }
 267   if (debug_lvl & 64) {
 268     if (from == 0) { // Constructor
 269       cout << IdSrc << endl;
 270       cout << IdHdr << endl;
 271     }
 272   }
 273 }
 274 }