1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGBuoyantForces.cpp
4 Authors: Anders Gidenstam, Jon S. Berndt
6 Purpose: Encapsulates the buoyant forces
8 ------------- Copyright (C) 2008 Anders Gidenstam -------------
9 ------------- Copyright (C) 2008 Jon S. Berndt (jsb@hal-pc.org) -------------
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free Software
13 Foundation; either version 2 of the License, or (at your option) any later
16 This program is distributed in the hope that it will be useful, but WITHOUT
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
21 You should have received a copy of the GNU Lesser General Public License along with
22 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23 Place - Suite 330, Boston, MA 02111-1307, USA.
25 Further information about the GNU Lesser General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
32 --------------------------------------------------------------------------------
35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 #include "FGBuoyantForces.h"
40 #include "FGMassBalance.h"
41 #include <input_output/FGPropertyManager.h> // Need?
45 static const char *IdSrc = "$Id$";
46 static const char *IdHdr = ID_BUOYANTFORCES;
48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 FGBuoyantForces::FGBuoyantForces(FGFDMExec* FDMExec) : FGModel(FDMExec)
54 Name = "FGBuoyantForces";
58 vTotalForces.InitMatrix();
59 vTotalMoments.InitMatrix();
61 gasCellJ.InitMatrix();
68 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
70 FGBuoyantForces::~FGBuoyantForces()
72 for (unsigned int i=0; i<Cells.size(); i++) delete Cells[i];
80 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
82 bool FGBuoyantForces::InitModel(void)
84 if (!FGModel::InitModel()) return false;
89 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
91 bool FGBuoyantForces::Run(void)
93 if (FGModel::Run()) return true;
94 if (FDMExec->Holding()) return false; // if paused don't execute
95 if (NoneDefined) return true;
97 vTotalForces.InitMatrix();
98 vTotalMoments.InitMatrix();
100 for (unsigned int i=0; i<Cells.size(); i++) {
101 Cells[i]->Calculate(FDMExec->GetDeltaT());
102 vTotalForces += Cells[i]->GetBodyForces();
103 vTotalMoments += Cells[i]->GetMoments();
109 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
111 bool FGBuoyantForces::Load(Element *element)
113 string fname="", file="";
114 Element *gas_cell_element;
118 string separator = "/";
120 fname = element->GetAttributeValue("file");
121 if (!fname.empty()) {
122 file = FDMExec->GetFullAircraftPath() + separator + fname;
123 document = LoadXMLDocument(file);
128 gas_cell_element = document->FindElement("gas_cell");
129 while (gas_cell_element) {
131 Cells.push_back(new FGGasCell(FDMExec, gas_cell_element, Cells.size()));
132 gas_cell_element = document->FindNextElement("gas_cell");
138 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
140 double FGBuoyantForces::GetGasMass(void)
144 for (unsigned int i = 0; i < Cells.size(); i++) {
145 Gw += Cells[i]->GetMass();
151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
153 FGColumnVector3& FGBuoyantForces::GetGasMassMoment(void)
155 vXYZgasCell_arm.InitMatrix();
156 for (unsigned int i = 0; i < Cells.size(); i++) {
157 vXYZgasCell_arm += Cells[i]->GetMassMoment();
159 return vXYZgasCell_arm;
162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
164 FGMatrix33& FGBuoyantForces::GetGasMassInertia(void)
166 const unsigned int size = Cells.size();
168 if (size == 0) return gasCellJ;
170 gasCellJ = FGMatrix33();
172 for (unsigned int i=0; i < size; i++) {
173 FGColumnVector3 v = MassBalance->StructuralToBody( Cells[i]->GetXYZ() );
174 // Body basis is in FT.
175 const double mass = Cells[i]->GetMass();
177 // FIXME: Verify that this is the correct way to change between the
178 // coordinate frames.
179 gasCellJ += Cells[i]->GetInertia() +
180 FGMatrix33( 0, - mass*v(1)*v(2), - mass*v(1)*v(3),
181 - mass*v(2)*v(1), 0, - mass*v(2)*v(3),
182 - mass*v(3)*v(1), - mass*v(3)*v(2), 0 );
188 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
190 string FGBuoyantForces::GetBuoyancyStrings(string delimeter)
192 string CoeffStrings = "";
193 bool firstime = true;
195 for (sd = 0; sd < variables.size(); sd++) {
199 CoeffStrings += delimeter;
201 CoeffStrings += variables[sd]->GetName();
204 for (axis = 0; axis < 6; axis++) {
205 for (sd = 0; sd < Coeff[axis].size(); sd++) {
209 CoeffStrings += delimeter;
211 CoeffStrings += Coeff[axis][sd]->GetName();
218 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
220 string FGBuoyantForces::GetBuoyancyValues(string delimeter)
222 string SDValues = "";
223 bool firstime = true;
225 for (sd = 0; sd < variables.size(); sd++) {
229 SDValues += delimeter;
231 SDValues += variables[sd]->GetValueAsString();
234 for (unsigned int axis = 0; axis < 6; axis++) {
235 for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
239 SDValues += delimeter;
241 SDValues += Coeff[axis][sd]->GetValueAsString();
248 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
250 void FGBuoyantForces::bind(void)
254 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
256 void FGBuoyantForces::unbind(void)
260 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
261 // The bitmasked value choices are as follows:
262 // unset: In this case (the default) JSBSim would only print
263 // out the normally expected messages, essentially echoing
264 // the config files as they are read. If the environment
265 // variable is not set, debug_lvl is set to 1 internally
266 // 0: This requests JSBSim not to output any messages
268 // 1: This value explicity requests the normal JSBSim
270 // 2: This value asks for a message to be printed out when
271 // a class is instantiated
272 // 4: When this value is set, a message is displayed when a
273 // FGModel object executes its Run() method
274 // 8: When this value is set, various runtime state variables
275 // are printed out periodically
276 // 16: When set various parameters are sanity checked and
277 // a message is printed out when they go out of bounds
279 void FGBuoyantForces::Debug(int from)
281 if (debug_lvl <= 0) return;
283 if (debug_lvl & 1) { // Standard console startup message output
284 if (from == 2) { // Loader
285 cout << endl << " Buoyant Forces: " << endl;
288 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
289 if (from == 0) cout << "Instantiated: FGBuoyantForces" << endl;
290 if (from == 1) cout << "Destroyed: FGBuoyantForces" << endl;
292 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
294 if (debug_lvl & 8 ) { // Runtime state variables
296 if (debug_lvl & 16) { // Sanity checking
298 if (debug_lvl & 64) {
299 if (from == 0) { // Constructor
300 cout << IdSrc << endl;
301 cout << IdHdr << endl;
306 } // namespace JSBSim