1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGGroundReactions.cpp
6 Purpose: Encapsulates the ground reaction forces (gear and collision)
8 ------------- Copyright (C) 2000 Jon S. Berndt (jon@jsbsim.org) -------------
10 This program is free software; you can redistribute it and/or modify it under
11 the terms of the GNU Lesser General Public License as published by the Free Software
12 Foundation; either version 2 of the License, or (at your option) any later
15 This program is distributed in the hope that it will be useful, but WITHOUT
16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
17 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
20 You should have received a copy of the GNU Lesser General Public License along with
21 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22 Place - Suite 330, Boston, MA 02111-1307, USA.
24 Further information about the GNU Lesser General Public License can also be found on
25 the world wide web at http://www.gnu.org.
27 FUNCTIONAL DESCRIPTION
28 --------------------------------------------------------------------------------
31 --------------------------------------------------------------------------------
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
41 #include "FGGroundReactions.h"
43 #include "input_output/FGPropertyManager.h"
49 static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.36 2011/08/21 15:13:22 bcoconni Exp $";
50 static const char *IdHdr = ID_GROUNDREACTIONS;
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
58 Name = "FGGroundReactions";
65 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 FGGroundReactions::~FGGroundReactions(void)
69 for (unsigned int i=0; i<lGear.size();i++) delete lGear[i];
75 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 bool FGGroundReactions::InitModel(void)
82 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
84 bool FGGroundReactions::Run(bool Holding)
86 if (FGModel::Run(Holding)) return true;
87 if (Holding) return false;
92 vMoments.InitMatrix();
96 // Sum forces and moments for all gear, here.
97 // Some optimizations may be made here - or rather in the gear code itself.
98 // The gear ::Run() method is called several times - once for each gear.
99 // Perhaps there is some commonality for things which only need to be
101 for (unsigned int i=0; i<lGear.size(); i++) {
102 vForces += lGear[i]->GetBodyForces();
103 vMoments += lGear[i]->GetMoments();
111 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
113 bool FGGroundReactions::GetWOW(void) const
116 for (unsigned int i=0; i<lGear.size(); i++) {
117 if (lGear[i]->IsBogey() && lGear[i]->GetWOW()) {
125 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
127 bool FGGroundReactions::Load(Element* el)
133 unsigned int numContacts = el->GetNumElements("contact");
134 lGear.resize(numContacts);
135 Element* contact_element = el->FindElement("contact");
136 for (unsigned int idx=0; idx<numContacts; idx++) {
137 lGear[idx] = new FGLGear(contact_element, FDMExec, num++, in);
138 contact_element = el->FindNextElement("contact");
141 FGModel::Load(el); // Perform base class Load
143 in.vWhlBodyVec.resize(lGear.size());
145 for (unsigned int i=0; i<lGear.size();i++) lGear[i]->bind();
147 PostLoad(el, PropertyManager);
152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
154 string FGGroundReactions::GetGroundReactionStrings(string delimeter) const
156 std::ostringstream buf;
158 for (unsigned int i=0;i<lGear.size();i++) {
159 if (lGear[i]->IsBogey()) {
160 string name = lGear[i]->GetName();
161 buf << name << " WOW" << delimeter
162 << name << " stroke (ft)" << delimeter
163 << name << " stroke velocity (ft/sec)" << delimeter
164 << name << " compress force (lbs)" << delimeter
165 << name << " wheel side force (lbs)" << delimeter
166 << name << " wheel roll force (lbs)" << delimeter
167 << name << " body X force (lbs)" << delimeter
168 << name << " body Y force (lbs)" << delimeter
169 << name << " wheel velocity vec X (ft/sec)" << delimeter
170 << name << " wheel velocity vec Y (ft/sec)" << delimeter
171 << name << " wheel rolling velocity (ft/sec)" << delimeter
172 << name << " wheel side velocity (ft/sec)" << delimeter
173 << name << " wheel slip (deg)" << delimeter;
177 buf << " Total Gear Force_X (lbs)" << delimeter
178 << " Total Gear Force_Y (lbs)" << delimeter
179 << " Total Gear Force_Z (lbs)" << delimeter
180 << " Total Gear Moment_L (ft-lbs)" << delimeter
181 << " Total Gear Moment_M (ft-lbs)" << delimeter
182 << " Total Gear Moment_N (ft-lbs)";
187 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
189 string FGGroundReactions::GetGroundReactionValues(string delimeter) const
191 std::ostringstream buf;
193 for (unsigned int i=0;i<lGear.size();i++) {
194 if (lGear[i]->IsBogey()) {
195 FGLGear *gear = lGear[i];
196 buf << (gear->GetWOW() ? "1" : "0") << delimeter
197 << setprecision(5) << gear->GetCompLen() << delimeter
198 << setprecision(6) << gear->GetCompVel() << delimeter
199 << setprecision(10) << gear->GetCompForce() << delimeter
200 << gear->GetWheelSideForce() << delimeter
201 << gear->GetWheelRollForce() << delimeter
202 << gear->GetBodyXForce() << delimeter
203 << gear->GetBodyYForce() << delimeter
204 << setprecision(6) << gear->GetWheelVel(eX) << delimeter
205 << gear->GetWheelVel(eY) << delimeter
206 << gear->GetWheelRollVel() << delimeter
207 << gear->GetWheelSideVel() << delimeter
208 << gear->GetWheelSlipAngle() << delimeter;
212 buf << vForces(eX) << delimeter
213 << vForces(eY) << delimeter
214 << vForces(eZ) << delimeter
215 << vMoments(eX) << delimeter
216 << vMoments(eY) << delimeter
222 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
224 void FGGroundReactions::bind(void)
226 typedef double (FGGroundReactions::*PMF)(int) const;
227 PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
228 PropertyManager->Tie("gear/wow", this, &FGGroundReactions::GetWOW);
231 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
232 // The bitmasked value choices are as follows:
233 // unset: In this case (the default) JSBSim would only print
234 // out the normally expected messages, essentially echoing
235 // the config files as they are read. If the environment
236 // variable is not set, debug_lvl is set to 1 internally
237 // 0: This requests JSBSim not to output any messages
239 // 1: This value explicity requests the normal JSBSim
241 // 2: This value asks for a message to be printed out when
242 // a class is instantiated
243 // 4: When this value is set, a message is displayed when a
244 // FGModel object executes its Run() method
245 // 8: When this value is set, various runtime state variables
246 // are printed out periodically
247 // 16: When set various parameters are sanity checked and
248 // a message is printed out when they go out of bounds
250 void FGGroundReactions::Debug(int from)
252 if (debug_lvl <= 0) return;
254 if (debug_lvl & 1) { // Standard console startup message output
255 if (from == 2) { // Loading
256 cout << endl << " Ground Reactions: " << endl;
259 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
260 if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
261 if (from == 1) cout << "Destroyed: FGGroundReactions" << endl;
263 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
265 if (debug_lvl & 8 ) { // Runtime state variables
267 if (debug_lvl & 16) { // Sanity checking
269 if (debug_lvl & 64) {
270 if (from == 0) { // Constructor
271 cout << IdSrc << endl;
272 cout << IdHdr << endl;