1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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44 #include "math/FGColumnVector3.h"
46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
50 #define ID_INERTIAL "$Id: FGInertial.h,v 1.20 2011/10/31 14:54:41 bcoconni Exp $"
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 /** Models inertial forces (e.g. centripetal and coriolis accelerations). Starting
66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
70 class FGInertial : public FGModel {
73 FGInertial(FGFDMExec*);
78 /** Runs the Inertial model; called by the Executive
79 Can pass in a value indicating if the executive is directing the simulation to Hold.
80 @param Holding if true, the executive has been directed to hold the sim from
81 advancing time. Some models may ignore this flag, such as the Input
82 model, which may need to be active to listen on a socket for the
83 "Resume" command to be given.
84 @return false if no error */
85 bool Run(bool Holding);
86 double SLgravity(void) const {return gAccelReference;}
87 double gravity(void) const {return gAccel;}
88 double omega(void) const {return RotationRate;}
89 const FGColumnVector3& GetOmegaPlanet() const {return vOmegaPlanet;}
90 double GetGAccel(double r) const;
91 FGColumnVector3 GetGravityJ2(const FGColumnVector3& position) const;
92 double GetRefRadius(void) const {return RadiusReference;}
93 double GetSemimajor(void) const {return a;}
94 double GetSemiminor(void) const {return b;}
102 FGColumnVector3 vOmegaPlanet;
104 double gAccelReference;
105 double RadiusReference;
107 double earthPosAngle;
109 double C2_0; // WGS84 value for the C2,0 coefficient
110 double J2; // WGS84 value for J2
111 double a; // WGS84 semimajor axis length in feet
112 double b; // WGS84 semiminor axis length in feet
115 void Debug(int from);
118 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%