Rob Deters: UIUC updates from March 1, 2004.

[flightgear.git] / src / FDM / JSBSim / FGForce.cpp

diff --git a/src/FDM/JSBSim/FGForce.cpp b/src/FDM/JSBSim/FGForce.cpp
index 572e7cb62d06686aa310e369ee6edda2cbaa2df7..72256d198a91e605bfadb735412ffcbf1c99cc17 100644 (file)
--- a/src/FDM/JSBSim/FGForce.cpp
+++ b/src/FDM/JSBSim/FGForce.cpp
@@ -43,70 +43,62 @@ and the cg.
 #include "FGFDMExec.h"
 #include "FGAircraft.h"
 #include "FGTranslation.h"
-#include "FGMatrix.h"
-#include "FGDefs.h"
+#include "FGMassBalance.h"
+#include "FGState.h"
 #include "FGForce.h"
 
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = "ID_FORCE";
+namespace JSBSim {
 
-extern short debug_lvl;
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_FORCE;
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGForce::FGForce(FGFDMExec *FDMExec) :
-    vFn(3),
-    vMn(3),
-    fdmex(FDMExec),
-    vFb(3),
-    vM(3),
-    vXYZn(3),
-    vDXYZ(3),
-    mT(3,3),
-    vSense(3),
-    ttype(tNone)
+                 ttype(tNone),
+                 fdmex(FDMExec)
 {
-  mT(1,1)=1; //identity matrix
-  mT(2,2)=1;
-  mT(3,3)=1;
+  mT(1,1) = 1; //identity matrix
+  mT(2,2) = 1;
+  mT(3,3) = 1;
   vSense.InitMatrix(1);
-  if (debug_lvl & 2) cout << "Instantiated: FGForce" << endl;
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGForce::~FGForce()
 {
-  if (debug_lvl & 2) cout << "Destroyed:    FGForce" << endl;
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGColumnVector FGForce::GetBodyForces(void) {
+FGColumnVector3& FGForce::GetBodyForces(void)
+{
+  vFb = Transform()*(vFn.multElementWise(vSense));
 
-  vFb=Transform()*(vFn.multElementWise(vSense));
+  // Find the distance from this vector's acting location to the cg; this
+  // needs to be done like this to convert from structural to body coords.
+  // CG and RP values are in inches
 
-  //find the distance from this vector's location to the cg
-  //needs to be done like this to convert from structural to body coords
-  vDXYZ(1) = -(vXYZn(1) - fdmex->GetAircraft()->GetXYZcg(1))*INCHTOFT;
-  vDXYZ(2) =  (vXYZn(2) - fdmex->GetAircraft()->GetXYZcg(2))*INCHTOFT;  //cg and rp values are in inches
-  vDXYZ(3) = -(vXYZn(3) - fdmex->GetAircraft()->GetXYZcg(3))*INCHTOFT;
+  vDXYZ = fdmex->GetMassBalance()->StructuralToBody(vActingXYZn);
 
-  vM=vMn +vDXYZ*vFb;
+  vM = vMn + vDXYZ*vFb;
 
   return vFb;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGMatrix FGForce::Transform(void) {
+FGMatrix33 FGForce::Transform(void)
+{
   switch(ttype) {
   case tWindBody:
-    return fdmex->GetState()->GetTs2b(fdmex->GetTranslation()->Getalpha(),fdmex->GetTranslation()->Getbeta());
+    return fdmex->GetState()->GetTs2b();
   case tLocalBody:
     return fdmex->GetState()->GetTl2b();
   case tCustom:
-
   case tNone:
     return mT;
   default:
@@ -117,10 +109,10 @@ FGMatrix FGForce::Transform(void) {
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGForce::SetAnglesToBody(float broll, float bpitch, float byaw) {
-
-  if(ttype == tCustom) {
-    float cp,sp,cr,sr,cy,sy;
+void FGForce::SetAnglesToBody(double broll, double bpitch, double byaw)
+{
+  if (ttype == tCustom) {
+    double cp,sp,cr,sr,cy,sy;
 
     cp=cos(bpitch); sp=sin(bpitch);
     cr=cos(broll);  sr=sin(broll);
@@ -138,13 +130,51 @@ void FGForce::SetAnglesToBody(float broll, float bpitch, float byaw) {
     mT(3,2)=cr*sp*sy-sr*cy;
     mT(3,3)=cr*cp;
   }
-
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGForce::Debug(void)
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGForce::Debug(int from)
 {
-    //TODO: Add your source code here
-}
+  if (debug_lvl <= 0) return;
 
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGForce" << endl;
+    if (from == 1) cout << "Destroyed:    FGForce" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
+}
+}