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 d2da596c2b719e7ee4e24c410230e88cc25b6839..72256d198a91e605bfadb735412ffcbf1c99cc17 100644 (file)
--- a/src/FDM/JSBSim/FGForce.cpp
+++ b/src/FDM/JSBSim/FGForce.cpp
@@ -43,11 +43,12 @@ and the cg.
 #include "FGFDMExec.h"
 #include "FGAircraft.h"
 #include "FGTranslation.h"
-#include "FGMatrix33.h"
-#include "FGColumnVector3.h"
-#include "FGColumnVector4.h"
+#include "FGMassBalance.h"
+#include "FGState.h"
 #include "FGForce.h"
 
+namespace JSBSim {
+
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_FORCE;
 
@@ -81,9 +82,7 @@ FGColumnVector3& FGForce::GetBodyForces(void)
   // needs to be done like this to convert from structural to body coords.
   // CG and RP values are in inches
 
-  vDXYZ(eX) = -(vActingXYZn(eX) - fdmex->GetMassBalance()->GetXYZcg(eX))*inchtoft;
-  vDXYZ(eY) =  (vActingXYZn(eY) - fdmex->GetMassBalance()->GetXYZcg(eY))*inchtoft;
-  vDXYZ(eZ) = -(vActingXYZn(eZ) - fdmex->GetMassBalance()->GetXYZcg(eZ))*inchtoft;
+  vDXYZ = fdmex->GetMassBalance()->StructuralToBody(vActingXYZn);
 
   vM = vMn + vDXYZ*vFb;
 
@@ -100,7 +99,6 @@ FGMatrix33 FGForce::Transform(void)
   case tLocalBody:
     return fdmex->GetState()->GetTl2b();
   case tCustom:
-
   case tNone:
     return mT;
   default:
@@ -172,5 +170,11 @@ void FGForce::Debug(int from)
   }
   if (debug_lvl & 16) { // Sanity checking
   }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
+}
 }
-