1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGBuoyantForces.cpp
4 Authors: Anders Gidenstam, Jon S. Berndt
6 Purpose: Encapsulates the buoyant forces
8 ------------- Copyright (C) 2008 - 2009 Anders Gidenstam -------------
9 ------------- Copyright (C) 2008 Jon S. Berndt (jon@jsbsim.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?
48 static const char *IdSrc = "$Id$";
49 static const char *IdHdr = ID_BUOYANTFORCES;
51 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
53 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
55 FGBuoyantForces::FGBuoyantForces(FGFDMExec* FDMExec) : FGModel(FDMExec)
57 Name = "FGBuoyantForces";
61 vTotalForces.InitMatrix();
62 vTotalMoments.InitMatrix();
64 gasCellJ.InitMatrix();
71 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
73 FGBuoyantForces::~FGBuoyantForces()
75 for (unsigned int i=0; i<Cells.size(); i++) delete Cells[i];
81 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
83 bool FGBuoyantForces::InitModel(void)
85 if (!FGModel::InitModel()) return false;
90 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
92 bool FGBuoyantForces::Run(void)
94 if (FGModel::Run()) return true;
95 if (FDMExec->Holding()) return false; // if paused don't execute
96 if (NoneDefined) return true;
98 vTotalForces.InitMatrix();
99 vTotalMoments.InitMatrix();
101 for (unsigned int i=0; i<Cells.size(); i++) {
102 Cells[i]->Calculate(FDMExec->GetDeltaT());
103 vTotalForces += Cells[i]->GetBodyForces();
104 vTotalMoments += Cells[i]->GetMoments();
110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
112 bool FGBuoyantForces::Load(Element *element)
114 string fname="", file="";
115 Element *gas_cell_element;
119 string separator = "/";
121 fname = element->GetAttributeValue("file");
122 if (!fname.empty()) {
123 file = FDMExec->GetFullAircraftPath() + separator + fname;
124 document = LoadXMLDocument(file);
129 FGModel::Load(element); // Perform base class Load
131 gas_cell_element = document->FindElement("gas_cell");
132 while (gas_cell_element) {
134 Cells.push_back(new FGGasCell(FDMExec, gas_cell_element, Cells.size()));
135 gas_cell_element = document->FindNextElement("gas_cell");
141 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
143 double FGBuoyantForces::GetGasMass(void)
147 for (unsigned int i = 0; i < Cells.size(); i++) {
148 Gw += Cells[i]->GetMass();
154 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
156 const FGColumnVector3& FGBuoyantForces::GetGasMassMoment(void)
158 vXYZgasCell_arm.InitMatrix();
159 for (unsigned int i = 0; i < Cells.size(); i++) {
160 vXYZgasCell_arm += Cells[i]->GetMassMoment();
162 return vXYZgasCell_arm;
165 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
167 const FGMatrix33& FGBuoyantForces::GetGasMassInertia(void)
169 const unsigned int size = Cells.size();
171 if (size == 0) return gasCellJ;
173 gasCellJ = FGMatrix33();
175 for (unsigned int i=0; i < size; i++) {
176 FGColumnVector3 v = MassBalance->StructuralToBody( Cells[i]->GetXYZ() );
177 // Body basis is in FT.
178 const double mass = Cells[i]->GetMass();
180 // FIXME: Verify that this is the correct way to change between the
181 // coordinate frames.
182 gasCellJ += Cells[i]->GetInertia() +
183 FGMatrix33( 0, - mass*v(1)*v(2), - mass*v(1)*v(3),
184 - mass*v(2)*v(1), 0, - mass*v(2)*v(3),
185 - mass*v(3)*v(1), - mass*v(3)*v(2), 0 );
191 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
193 string FGBuoyantForces::GetBuoyancyStrings(string delimeter)
195 string CoeffStrings = "";
197 bool firstime = true;
198 for (sd = 0; sd < variables.size(); sd++) {
202 CoeffStrings += delimeter;
204 CoeffStrings += variables[sd]->GetName();
207 for (axis = 0; axis < 6; axis++) {
208 for (sd = 0; sd < Coeff[axis].size(); sd++) {
212 CoeffStrings += delimeter;
214 CoeffStrings += Coeff[axis][sd]->GetName();
221 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
223 string FGBuoyantForces::GetBuoyancyValues(string delimeter)
225 string SDValues = "";
227 bool firstime = true;
228 for (sd = 0; sd < variables.size(); sd++) {
232 SDValues += delimeter;
234 SDValues += variables[sd]->GetValueAsString();
237 for (unsigned int axis = 0; axis < 6; axis++) {
238 for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
242 SDValues += delimeter;
244 SDValues += Coeff[axis][sd]->GetValueAsString();
251 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
253 void FGBuoyantForces::bind(void)
257 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
258 // The bitmasked value choices are as follows:
259 // unset: In this case (the default) JSBSim would only print
260 // out the normally expected messages, essentially echoing
261 // the config files as they are read. If the environment
262 // variable is not set, debug_lvl is set to 1 internally
263 // 0: This requests JSBSim not to output any messages
265 // 1: This value explicity requests the normal JSBSim
267 // 2: This value asks for a message to be printed out when
268 // a class is instantiated
269 // 4: When this value is set, a message is displayed when a
270 // FGModel object executes its Run() method
271 // 8: When this value is set, various runtime state variables
272 // are printed out periodically
273 // 16: When set various parameters are sanity checked and
274 // a message is printed out when they go out of bounds
276 void FGBuoyantForces::Debug(int from)
278 if (debug_lvl <= 0) return;
280 if (debug_lvl & 1) { // Standard console startup message output
281 if (from == 2) { // Loader
282 cout << endl << " Buoyant Forces: " << endl;
285 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
286 if (from == 0) cout << "Instantiated: FGBuoyantForces" << endl;
287 if (from == 1) cout << "Destroyed: FGBuoyantForces" << endl;
289 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
291 if (debug_lvl & 8 ) { // Runtime state variables
293 if (debug_lvl & 16) { // Sanity checking
295 if (debug_lvl & 64) {
296 if (from == 0) { // Constructor
297 cout << IdSrc << endl;
298 cout << IdHdr << endl;
303 } // namespace JSBSim