#include "FGFDMExec.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
-#include "FGMatrix.h"
-#include "FGDefs.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.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(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;
- 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:
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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);
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;
+ }
+ }
+}
+}