1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 2001 Jon S. Berndt (jsb@hal-pc.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser 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 Lesser General Public License for more
19 You should have received a copy of the GNU Lesser 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 Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 # define M_PI 3.14159265358979323846
55 #if !defined(WIN32) || defined(__GNUC__) || (defined(_MSC_VER) && (_MSC_VER >= 1300))
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 #define ID_JSBBASE "$Id$"
65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
71 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
73 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
75 /** JSBSim Base class.
76 * This class provides universal constants, utility functions, messaging
77 * functions, and enumerated constants to JSBSim.
82 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
84 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
88 /// Constructor for FGJSBBase.
91 /// Destructor for FGJSBBase.
94 /// JSBSim Message structure
98 unsigned int messageId;
101 enum mType {eText, eInteger, eDouble, eBool} type;
107 /// First order, (low pass / lag) filter
113 public: Filter(void) {}
114 public: Filter(double coeff, double dt) {
115 prev_in = prev_out = 0.0;
116 double denom = 2.0 + coeff*dt;
118 cb = (2.0 - coeff*dt)/denom;
120 public: double execute(double in) {
121 double out = (in + prev_in)*ca + prev_out*cb;
128 ///@name JSBSim console output highlighting terms.
131 static char highint[5];
132 /// low intensity text
133 static char halfint[5];
134 /// normal intensity text
135 static char normint[6];
136 /// resets text properties
137 static char reset[5];
139 static char underon[5];
141 static char underoff[6];
143 static char fgblue[6];
145 static char fgcyan[6];
147 static char fgred[6];
149 static char fggreen[6];
151 static char fgdef[6];
154 ///@name JSBSim Messaging functions
156 /** Places a Message structure on the Message queue.
157 @param msg pointer to a Message structure
158 @return pointer to a Message structure */
159 void PutMessage(const Message& msg);
160 /** Creates a message with the given text and places it on the queue.
161 @param text message text
162 @return pointer to a Message structure */
163 void PutMessage(const string& text);
164 /** Creates a message with the given text and boolean value and places it on the queue.
165 @param text message text
166 @param bVal boolean value associated with the message
167 @return pointer to a Message structure */
168 void PutMessage(const string& text, bool bVal);
169 /** Creates a message with the given text and integer value and places it on the queue.
170 @param text message text
171 @param iVal integer value associated with the message
172 @return pointer to a Message structure */
173 void PutMessage(const string& text, int iVal);
174 /** Creates a message with the given text and double value and places it on the queue.
175 @param text message text
176 @param dVal double value associated with the message
177 @return pointer to a Message structure */
178 void PutMessage(const string& text, double dVal);
179 /** Reads the message on the queue (but does not delete it).
180 @return 1 if some messages */
181 int SomeMessages(void);
182 /** Reads the message on the queue and removes it from the queue.
183 @return pointer to a Message structure (or NULL if no mesage) */
184 Message* ProcessMessage(void);
187 /** Returns the version number of JSBSim.
188 * @return The version number of JSBSim. */
189 string GetVersion(void) {return JSBSim_version;}
191 /// Disables highlighting in the console output.
192 void disableHighLighting(void);
194 static short debug_lvl;
196 /** Converts from degrees Kelvin to degrees Fahrenheit.
197 * @param kelvin The temperature in degrees Kelvin.
198 * @return The temperature in Fahrenheit. */
199 static double KelvinToFahrenheit (double kelvin) {
200 return 1.8*kelvin - 459.4;
203 /** Converts from degrees Celsius to degrees Rankine.
204 * @param celsius The temperature in degrees Celsius.
205 * @return The temperature in Rankine. */
206 static double CelsiusToRankine (double celsius) {
207 return celsius * 1.8 + 491.67;
210 /** Converts from degrees Rankine to degrees Celsius.
211 * @param rankine The temperature in degrees Rankine.
212 * @return The temperature in Celsius. */
213 static double RankineToCelsius (double rankine) {
214 return (rankine - 491.67)/1.8;
217 /** Converts from degrees Kelvin to degrees Rankine.
218 * @param kelvin The temperature in degrees Kelvin.
219 * @return The temperature in Rankine. */
220 static double KelvinToRankine (double kelvin) {
224 /** Converts from degrees Rankine to degrees Kelvin.
225 * @param rankine The temperature in degrees Rankine.
226 * @return The temperature in Kelvin. */
227 static double RankineToKelvin (double rankine) {
231 /** Converts from degrees Fahrenheit to degrees Celsius.
232 * @param fahrenheit The temperature in degrees Fahrenheit.
233 * @return The temperature in Celsius. */
234 static double FahrenheitToCelsius (double fahrenheit) {
235 return (fahrenheit - 32.0)/1.8;
238 /** Converts from degrees Celsius to degrees Fahrenheit.
239 * @param celsius The temperature in degrees Celsius.
240 * @return The temperature in Fahrenheit. */
241 static double CelsiusToFahrenheit (double celsius) {
242 return celsius * 1.8 + 32.0;
245 /** Converts from degrees Celsius to degrees Kelvin
246 * @param celsius The temperature in degrees Celsius.
247 * @return The temperature in Kelvin. */
248 static double CelsiusToKelvin (double celsius) {
249 return celsius + 273.15;
252 /** Converts from degrees Kelvin to degrees Celsius
253 * @param celsius The temperature in degrees Kelvin.
254 * @return The temperature in Celsius. */
255 static double KelvinToCelsius (double kelvin) {
256 return kelvin - 273.15;
259 /** Finite precision comparison.
260 @param a first value to compare
261 @param b second value to compare
262 @return if the two values can be considered equal up to roundoff */
263 static bool EqualToRoundoff(double a, double b) {
264 double eps = 2.0*DBL_EPSILON;
265 return fabs(a - b) <= eps*max(fabs(a), fabs(b));
268 /** Finite precision comparison.
269 @param a first value to compare
270 @param b second value to compare
271 @return if the two values can be considered equal up to roundoff */
272 static bool EqualToRoundoff(float a, float b) {
273 float eps = 2.0*FLT_EPSILON;
274 return fabs(a - b) <= eps*max(fabs(a), fabs(b));
277 /** Finite precision comparison.
278 @param a first value to compare
279 @param b second value to compare
280 @return if the two values can be considered equal up to roundoff */
281 static bool EqualToRoundoff(float a, double b) {
282 return EqualToRoundoff(a, (float)b);
285 /** Finite precision comparison.
286 @param a first value to compare
287 @param b second value to compare
288 @return if the two values can be considered equal up to roundoff */
289 static bool EqualToRoundoff(double a, float b) {
290 return EqualToRoundoff((float)a, b);
293 /** Constrain a value between a minimum and a maximum value.
295 static double Constrain(double min, double value, double max) {
296 return value<min?(min):(value>max?(max):(value));
299 static double sign(double num) {return num>=0.0?1.0:-1.0;}
302 static Message localMsg;
304 static std::queue <Message> Messages;
306 void Debug(int from) {};
308 static unsigned int messageId;
310 static const double radtodeg;
311 static const double degtorad;
312 static const double hptoftlbssec;
313 static const double psftoinhg;
314 static const double psftopa;
315 static const double fpstokts;
316 static const double ktstofps;
317 static const double inchtoft;
318 static const double in3tom3;
319 static const double m3toft3;
320 static const double inhgtopa;
321 static const double fttom;
322 static double Reng; // Specific Gas Constant,ft^2/(sec^2*R)
323 static const double SHRatio;
324 static const double lbtoslug;
325 static const double slugtolb;
326 static const double kgtolb;
327 static const double kgtoslug;
328 static const string needed_cfg_version;
329 static const string JSBSim_version;
331 static string CreateIndexedPropertyName(string Property, int index)
333 std::stringstream str;
337 return Property + "[" + tmp + "]";
340 static double GaussianRandomNumber(void)
342 static double V1, V2, S;
343 static int phase = 0;
346 V1 = V2 = S = X = 0.0;
350 double U1 = (double)rand() / RAND_MAX;
351 double U2 = (double)rand() / RAND_MAX;
355 S = V1 * V1 + V2 * V2;
356 } while(S >= 1 || S == 0);
358 X = V1 * sqrt(-2 * log(S) / S);
360 X = V2 * sqrt(-2 * log(S) / S);
369 enum {eL = 1, eM, eN };
371 enum {eP = 1, eQ, eR };
372 /// Velocities U, V, W
373 enum {eU = 1, eV, eW };
374 /// Positions X, Y, Z
375 enum {eX = 1, eY, eZ };
376 /// Euler angles Phi, Theta, Psi
377 enum {ePhi = 1, eTht, ePsi };
378 /// Stability axis forces, Drag, Side force, Lift
379 enum {eDrag = 1, eSide, eLift };
380 /// Local frame orientation Roll, Pitch, Yaw
381 enum {eRoll = 1, ePitch, eYaw };
382 /// Local frame position North, East, Down
383 enum {eNorth = 1, eEast, eDown };
384 /// Locations Radius, Latitude, Longitude
385 enum {eLat = 1, eLong, eRad };
386 /// Conversion specifiers
387 enum {inNone = 0, inDegrees, inRadians, inMeters, inFeet };
392 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%