1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGBuoyantForces.cpp
4 Authors: Anders Gidenstam, Jon S. Berndt
6 Purpose: Encapsulates the buoyant forces
8 ------------- Copyright (C) 2008 - 2010 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"
48 static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.12 2010/05/07 18:59:55 andgi Exp $";
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();
69 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 FGBuoyantForces::~FGBuoyantForces()
73 for (unsigned int i=0; i<Cells.size(); i++) delete Cells[i];
79 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
81 bool FGBuoyantForces::InitModel(void)
83 if (!FGModel::InitModel()) return false;
88 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
90 bool FGBuoyantForces::Run(void)
92 if (FGModel::Run()) return true;
93 if (FDMExec->Holding()) return false; // if paused don't execute
94 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();
112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
114 bool FGBuoyantForces::Load(Element *element)
116 string fname="", file="";
117 Element *gas_cell_element;
121 string separator = "/";
123 fname = element->GetAttributeValue("file");
124 if (!fname.empty()) {
125 file = FDMExec->GetFullAircraftPath() + separator + fname;
126 document = LoadXMLDocument(file);
131 FGModel::Load(element); // Perform base class Load
133 gas_cell_element = document->FindElement("gas_cell");
134 while (gas_cell_element) {
136 Cells.push_back(new FGGasCell(FDMExec, gas_cell_element, Cells.size()));
137 gas_cell_element = document->FindNextElement("gas_cell");
140 FGModel::PostLoad(element);
149 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
151 double FGBuoyantForces::GetGasMass(void)
155 for (unsigned int i = 0; i < Cells.size(); i++) {
156 Gw += Cells[i]->GetMass();
162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
164 const FGColumnVector3& FGBuoyantForces::GetGasMassMoment(void)
166 vXYZgasCell_arm.InitMatrix();
167 for (unsigned int i = 0; i < Cells.size(); i++) {
168 vXYZgasCell_arm += Cells[i]->GetMassMoment();
170 return vXYZgasCell_arm;
173 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
175 const FGMatrix33& FGBuoyantForces::GetGasMassInertia(void)
177 const unsigned int size = Cells.size();
179 if (size == 0) return gasCellJ;
181 gasCellJ = FGMatrix33();
183 for (unsigned int i=0; i < size; i++) {
184 FGColumnVector3 v = MassBalance->StructuralToBody( Cells[i]->GetXYZ() );
185 // Body basis is in FT.
186 const double mass = Cells[i]->GetMass();
188 // FIXME: Verify that this is the correct way to change between the
189 // coordinate frames.
190 gasCellJ += Cells[i]->GetInertia() +
191 FGMatrix33( 0, - mass*v(1)*v(2), - mass*v(1)*v(3),
192 - mass*v(2)*v(1), 0, - mass*v(2)*v(3),
193 - mass*v(3)*v(1), - mass*v(3)*v(2), 0 );
199 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
201 string FGBuoyantForces::GetBuoyancyStrings(string delimeter)
203 string CoeffStrings = "";
205 bool firstime = true;
206 for (sd = 0; sd < variables.size(); sd++) {
210 CoeffStrings += delimeter;
212 CoeffStrings += variables[sd]->GetName();
215 for (axis = 0; axis < 6; axis++) {
216 for (sd = 0; sd < Coeff[axis].size(); sd++) {
220 CoeffStrings += delimeter;
222 CoeffStrings += Coeff[axis][sd]->GetName();
229 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
231 string FGBuoyantForces::GetBuoyancyValues(string delimeter)
233 string SDValues = "";
235 bool firstime = true;
236 for (sd = 0; sd < variables.size(); sd++) {
240 SDValues += delimeter;
242 SDValues += variables[sd]->GetValueAsString();
245 for (unsigned int axis = 0; axis < 6; axis++) {
246 for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
250 SDValues += delimeter;
252 SDValues += Coeff[axis][sd]->GetValueAsString();
259 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
261 void FGBuoyantForces::bind(void)
263 typedef double (FGBuoyantForces::*PMF)(int) const;
264 PropertyManager->Tie("moments/l-buoyancy-lbsft", this, eL,
265 (PMF)&FGBuoyantForces::GetMoments);
266 PropertyManager->Tie("moments/m-buoyancy-lbsft", this, eM,
267 (PMF)&FGBuoyantForces::GetMoments);
268 PropertyManager->Tie("moments/n-buoyancy-lbsft", this, eN,
269 (PMF)&FGBuoyantForces::GetMoments);
270 PropertyManager->Tie("forces/fbx-buoyancy-lbs", this, eX,
271 (PMF)&FGBuoyantForces::GetForces);
272 PropertyManager->Tie("forces/fby-buoyancy-lbs", this, eY,
273 (PMF)&FGBuoyantForces::GetForces);
274 PropertyManager->Tie("forces/fbz-buoyancy-lbs", this, eZ,
275 (PMF)&FGBuoyantForces::GetForces);
278 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
279 // The bitmasked value choices are as follows:
280 // unset: In this case (the default) JSBSim would only print
281 // out the normally expected messages, essentially echoing
282 // the config files as they are read. If the environment
283 // variable is not set, debug_lvl is set to 1 internally
284 // 0: This requests JSBSim not to output any messages
286 // 1: This value explicity requests the normal JSBSim
288 // 2: This value asks for a message to be printed out when
289 // a class is instantiated
290 // 4: When this value is set, a message is displayed when a
291 // FGModel object executes its Run() method
292 // 8: When this value is set, various runtime state variables
293 // are printed out periodically
294 // 16: When set various parameters are sanity checked and
295 // a message is printed out when they go out of bounds
297 void FGBuoyantForces::Debug(int from)
299 if (debug_lvl <= 0) return;
301 if (debug_lvl & 1) { // Standard console startup message output
302 if (from == 2) { // Loader
303 cout << endl << " Buoyant Forces: " << endl;
306 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
307 if (from == 0) cout << "Instantiated: FGBuoyantForces" << endl;
308 if (from == 1) cout << "Destroyed: FGBuoyantForces" << endl;
310 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
312 if (debug_lvl & 8 ) { // Runtime state variables
314 if (debug_lvl & 16) { // Sanity checking
316 if (debug_lvl & 64) {
317 if (from == 0) { // Constructor
318 cout << IdSrc << endl;
319 cout << IdHdr << endl;
324 } // namespace JSBSim