1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGExternalReactions.cpp
6 Purpose: Manages the External Forces
9 ------------- Copyright (C) 2006 David P. Culp (davidculp2@comcast.net) -------------
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 "FGExternalReactions.h"
44 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
46 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 static const char *IdSrc = "$Id$";
53 static const char *IdHdr = ID_EXTERNALREACTIONS;
55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 FGExternalReactions::FGExternalReactions(FGFDMExec* fdmex) : FGModel(fdmex)
65 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 bool FGExternalReactions::Load(Element* el)
71 // Interface properties are all stored in the interface properties array.
72 // ToDo: Interface properties should not be created if they already exist.
73 // A check should be done prior to creation. This ought to make it easier
74 // to work with FlightGear, where some properties used in definitions may
75 // already have been created, but would not be seen when JSBSim is run
76 // in standalone mode.
78 Element* property_element;
79 property_element = el->FindElement("property");
80 while (property_element) {
82 if ( ! property_element->GetAttributeValue("value").empty())
83 value = property_element->GetAttributeValueAsNumber("value");
84 interface_properties.push_back(new double(value));
85 string interface_property_string = property_element->GetDataLine();
86 PropertyManager->Tie(interface_property_string, interface_properties.back());
87 property_element = el->FindNextElement("property");
90 // Parse force elements
93 Element* force_element = el->FindElement("force");
94 while (force_element) {
95 Forces.push_back( new FGExternalForce(FDMExec, force_element, index) );
98 force_element = el->FindNextElement("force");
104 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
106 FGExternalReactions::~FGExternalReactions()
108 for (unsigned int i=0; i<Forces.size(); i++) delete Forces[i];
110 for (unsigned int i=0; i<interface_properties.size(); i++) delete interface_properties[i];
111 interface_properties.clear();
115 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
117 bool FGExternalReactions::InitModel(void)
119 if (!FGModel::InitModel()) return false;
124 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
126 bool FGExternalReactions::Run()
128 if (FGModel::Run()) return true;
129 if (FDMExec->Holding()) return false; // if paused don't execute
130 if (NoneDefined) return true;
132 vTotalForces.InitMatrix();
133 vTotalMoments.InitMatrix();
135 for (unsigned int i=0; i<Forces.size(); i++) {
136 vTotalForces += Forces[i]->GetBodyForces();
137 vTotalMoments += Forces[i]->GetMoments();
143 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
144 // The bitmasked value choices are as follows:
145 // unset: In this case (the default) JSBSim would only print
146 // out the normally expected messages, essentially echoing
147 // the config files as they are read. If the environment
148 // variable is not set, debug_lvl is set to 1 internally
149 // 0: This requests JSBSim not to output any messages
151 // 1: This value explicity requests the normal JSBSim
153 // 2: This value asks for a message to be printed out when
154 // a class is instantiated
155 // 4: When this value is set, a message is displayed when a
156 // FGModel object executes its Run() method
157 // 8: When this value is set, various runtime state variables
158 // are printed out periodically
159 // 16: When set various parameters are sanity checked and
160 // a message is printed out when they go out of bounds
162 void FGExternalReactions::Debug(int from)
164 if (debug_lvl <= 0) return;
166 if (debug_lvl & 1) { // Standard console startup message output
167 if (from == 0) { // Constructor - loading and initialization
169 if (from == 2) { // Loading
170 cout << endl << " External Reactions: " << endl;
173 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
174 if (from == 0) cout << "Instantiated: FGExternalReactions" << endl;
175 if (from == 1) cout << "Destroyed: FGExternalReactions" << endl;
177 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
179 if (debug_lvl & 8 ) { // Runtime state variables
181 if (debug_lvl & 16) { // Sanity checking
183 if (debug_lvl & 64) {
184 if (from == 0) { // Constructor
185 cout << IdSrc << endl;
186 cout << IdHdr << endl;
191 } // namespace JSBSim