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 = "$Id$";
50 static const char *IdHdr = ID_GROUNDREACTIONS;
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
57 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
59 Name = "FGGroundReactions";
66 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
68 FGGroundReactions::~FGGroundReactions(void)
70 for (unsigned int i=0; i<lGear.size();i++) delete lGear[i];
76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
78 bool FGGroundReactions::InitModel(void)
80 if (!FGModel::InitModel()) return false;
85 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
87 bool FGGroundReactions::Run(void)
89 if (FGModel::Run()) return true;
90 if (FDMExec->Holding()) return false;
95 vMoments.InitMatrix();
97 // Sum forces and moments for all gear, here.
98 // Some optimizations may be made here - or rather in the gear code itself.
99 // The gear ::Run() method is called several times - once for each gear.
100 // Perhaps there is some commonality for things which only need to be
102 for (unsigned int i=0; i<lGear.size(); i++) {
103 vForces += lGear[i]->GetBodyForces();
104 vMoments += lGear[i]->GetMoments();
112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
114 bool FGGroundReactions::GetWOW(void)
117 for (unsigned int i=0; i<lGear.size(); i++) {
118 if (lGear[i]->IsBogey() && lGear[i]->GetWOW()) {
126 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
128 bool FGGroundReactions::Load(Element* el)
134 Element* contact_element = el->FindElement("contact");
135 while (contact_element) {
136 lGear.push_back(new FGLGear(contact_element, FDMExec, num++));
137 FCS->AddGear(); // make the FCS aware of the landing gear
138 contact_element = el->FindNextElement("contact");
141 FGModel::Load(el); // Perform base class Load
143 for (unsigned int i=0; i<lGear.size();i++) lGear[i]->bind();
145 FGModel::PostLoad(el);
150 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
152 string FGGroundReactions::GetGroundReactionStrings(string delimeter)
154 std::ostringstream buf;
156 for (unsigned int i=0;i<lGear.size();i++) {
157 if (lGear[i]->IsBogey()) {
158 string name = lGear[i]->GetName();
159 buf << name << " WOW" << delimeter
160 << name << " stroke (ft)" << delimeter
161 << name << " stroke velocity (ft/sec)" << delimeter
162 << name << " compress force (lbs)" << delimeter
163 << name << " wheel side force (lbs)" << delimeter
164 << name << " wheel roll force (lbs)" << delimeter
165 << name << " body X force (lbs)" << delimeter
166 << name << " body Y force (lbs)" << delimeter
167 << name << " wheel velocity vec X (ft/sec)" << delimeter
168 << name << " wheel velocity vec Y (ft/sec)" << delimeter
169 << name << " wheel rolling velocity (ft/sec)" << delimeter
170 << name << " wheel side velocity (ft/sec)" << delimeter
171 << name << " wheel slip (deg)" << delimeter;
175 buf << " Total Gear Force_X (lbs)" << delimeter
176 << " Total Gear Force_Y (lbs)" << delimeter
177 << " Total Gear Force_Z (lbs)" << delimeter
178 << " Total Gear Moment_L (ft-lbs)" << delimeter
179 << " Total Gear Moment_M (ft-lbs)" << delimeter
180 << " Total Gear Moment_N (ft-lbs)";
185 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
187 string FGGroundReactions::GetGroundReactionValues(string delimeter)
189 std::ostringstream buf;
191 for (unsigned int i=0;i<lGear.size();i++) {
192 if (lGear[i]->IsBogey()) {
193 FGLGear *gear = lGear[i];
194 buf << (gear->GetWOW() ? "1" : "0") << delimeter
195 << setprecision(5) << gear->GetCompLen() << delimeter
196 << setprecision(6) << gear->GetCompVel() << delimeter
197 << setprecision(10) << gear->GetCompForce() << delimeter
198 << gear->GetWheelSideForce() << delimeter
199 << gear->GetWheelRollForce() << delimeter
200 << gear->GetBodyXForce() << delimeter
201 << gear->GetBodyYForce() << delimeter
202 << setprecision(6) << gear->GetWheelVel(eX) << delimeter
203 << gear->GetWheelVel(eY) << delimeter
204 << gear->GetWheelRollVel() << delimeter
205 << gear->GetWheelSideVel() << delimeter
206 << gear->GetWheelSlipAngle() << delimeter;
210 buf << vForces(eX) << delimeter
211 << vForces(eY) << delimeter
212 << vForces(eZ) << delimeter
213 << vMoments(eX) << delimeter
214 << vMoments(eY) << delimeter
220 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
222 void FGGroundReactions::bind(void)
224 typedef double (FGGroundReactions::*PMF)(int) const;
225 PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
226 PropertyManager->Tie("moments/l-gear-lbsft", this, eL, (PMF)&FGGroundReactions::GetMoments);
227 PropertyManager->Tie("moments/m-gear-lbsft", this, eM, (PMF)&FGGroundReactions::GetMoments);
228 PropertyManager->Tie("moments/n-gear-lbsft", this, eN, (PMF)&FGGroundReactions::GetMoments);
229 PropertyManager->Tie("forces/fbx-gear-lbs", this, eX, (PMF)&FGGroundReactions::GetForces);
230 PropertyManager->Tie("forces/fby-gear-lbs", this, eY, (PMF)&FGGroundReactions::GetForces);
231 PropertyManager->Tie("forces/fbz-gear-lbs", this, eZ, (PMF)&FGGroundReactions::GetForces);
234 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
235 // The bitmasked value choices are as follows:
236 // unset: In this case (the default) JSBSim would only print
237 // out the normally expected messages, essentially echoing
238 // the config files as they are read. If the environment
239 // variable is not set, debug_lvl is set to 1 internally
240 // 0: This requests JSBSim not to output any messages
242 // 1: This value explicity requests the normal JSBSim
244 // 2: This value asks for a message to be printed out when
245 // a class is instantiated
246 // 4: When this value is set, a message is displayed when a
247 // FGModel object executes its Run() method
248 // 8: When this value is set, various runtime state variables
249 // are printed out periodically
250 // 16: When set various parameters are sanity checked and
251 // a message is printed out when they go out of bounds
253 void FGGroundReactions::Debug(int from)
255 if (debug_lvl <= 0) return;
257 if (debug_lvl & 1) { // Standard console startup message output
258 if (from == 2) { // Loading
259 cout << endl << " Ground Reactions: " << endl;
262 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
263 if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
264 if (from == 1) cout << "Destroyed: FGGroundReactions" << endl;
266 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
268 if (debug_lvl & 8 ) { // Runtime state variables
270 if (debug_lvl & 16) { // Sanity checking
272 if (debug_lvl & 64) {
273 if (from == 0) { // Constructor
274 cout << IdSrc << endl;
275 cout << IdHdr << endl;