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"
40 #include "input_output/FGXMLElement.h"
48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 static const char *IdSrc = "$Id$";
57 static const char *IdHdr = ID_EXTERNALREACTIONS;
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 FGExternalReactions::FGExternalReactions(FGFDMExec* fdmex) : FGModel(fdmex)
69 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 bool FGExternalReactions::Load(Element* el)
73 FGModel::Load(el); // Call the base class Load() function to load interface properties.
77 // Parse force elements
80 Element* force_element = el->FindElement("force");
81 while (force_element) {
82 Forces.push_back( new FGExternalForce(FDMExec, force_element, index) );
85 force_element = el->FindNextElement("force");
91 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
93 FGExternalReactions::~FGExternalReactions()
95 for (unsigned int i=0; i<Forces.size(); i++) delete Forces[i];
101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
103 bool FGExternalReactions::InitModel(void)
105 if (!FGModel::InitModel()) return false;
110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
112 bool FGExternalReactions::Run()
114 if (FGModel::Run()) return true;
115 if (FDMExec->Holding()) return false; // if paused don't execute
116 if (NoneDefined) return true;
118 vTotalForces.InitMatrix();
119 vTotalMoments.InitMatrix();
121 for (unsigned int i=0; i<Forces.size(); i++) {
122 vTotalForces += Forces[i]->GetBodyForces();
123 vTotalMoments += Forces[i]->GetMoments();
129 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
130 // The bitmasked value choices are as follows:
131 // unset: In this case (the default) JSBSim would only print
132 // out the normally expected messages, essentially echoing
133 // the config files as they are read. If the environment
134 // variable is not set, debug_lvl is set to 1 internally
135 // 0: This requests JSBSim not to output any messages
137 // 1: This value explicity requests the normal JSBSim
139 // 2: This value asks for a message to be printed out when
140 // a class is instantiated
141 // 4: When this value is set, a message is displayed when a
142 // FGModel object executes its Run() method
143 // 8: When this value is set, various runtime state variables
144 // are printed out periodically
145 // 16: When set various parameters are sanity checked and
146 // a message is printed out when they go out of bounds
148 void FGExternalReactions::Debug(int from)
150 if (debug_lvl <= 0) return;
152 if (debug_lvl & 1) { // Standard console startup message output
153 if (from == 0) { // Constructor - loading and initialization
155 if (from == 2) { // Loading
156 cout << endl << " External Reactions: " << endl;
159 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
160 if (from == 0) cout << "Instantiated: FGExternalReactions" << endl;
161 if (from == 1) cout << "Destroyed: FGExternalReactions" << endl;
163 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
165 if (debug_lvl & 8 ) { // Runtime state variables
167 if (debug_lvl & 16) { // Sanity checking
169 if (debug_lvl & 64) {
170 if (from == 0) { // Constructor
171 cout << IdSrc << endl;
172 cout << IdHdr << endl;
177 } // namespace JSBSim