static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_GROUNDREACTIONS;
-extern short debug_lvl;
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
{
- if (debug_lvl & 2) cout << "Instantiated: FGGroundReactions" << endl;
+ Name = "FGGroundReactions";
+
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGGroundReactions:: Run(void) {
+FGGroundReactions::~FGGroundReactions(void)
+{
+ Debug(1);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+bool FGGroundReactions::Run(void)
+{
+// double steerAngle = 0.0;
+// double xForces = 0.0, yForces = 0.0;
if (!FGModel::Run()) {
+ vForces.InitMatrix();
+ vMoments.InitMatrix();
+
+ // Only execute gear force code below 300 feet
+ if ( Position->GetDistanceAGL() < 300.0 ) {
+ vector <FGLGear>::iterator iGear = lGear.begin();
+ // Sum forces and moments for all gear, here.
+ // Some optimizations may be made here - or rather in the gear code itself.
+ // The gear ::Run() method is called several times - once for each gear.
+ // Perhaps there is some commonality for things which only need to be
+ // calculated once.
+ while (iGear != lGear.end()) {
+ vForces += iGear->Force();
+ vMoments += iGear->Moment();
+ iGear++;
+ }
+
+ // Only execute this code when the aircraft ground speed is very, very small.
+ /*
+ if (fabs(Translation->GetUVW(eX)) < 0.1 &&
+ fabs(Translation->GetUVW(eZ)) < 0.1)
+ {
+ // Initialize the comparison matrices.
+ vMaxStaticGrip.InitMatrix();
+ vMaxMomentResist.InitMatrix();
+ iGear = lGear.begin();
+ // For each gear that is touching the ground (which had better be all of them!)
+ // calculate the X and Y direction maximum "gripping" power. Also, keep track
+ // of the number of gear that have weight on wheels. This is probably unnecessary.
+ while (iGear != lGear.end()) {
+ // calculate maximum gripping power for each gear here based on brake
+ // and steering settings
+ // also calculate total number of wheels with WOW set true?
+ if (iGear->GetWOW()) {
+ steerAngle = iGear->GetSteerAngle();
+ vMaxStaticGrip(eX) += (iGear->GetBrakeFCoeff()*cos(steerAngle) -
+ iGear->GetstaticFCoeff()*sin(steerAngle))*iGear->GetCompForce();
+ vMaxStaticGrip(eY) += iGear->GetBrakeFCoeff()*sin(steerAngle) +
+ iGear->GetstaticFCoeff()*cos(steerAngle)*iGear->GetCompForce();
+ vMaxStaticGrip(eZ) = 0.0;
+// vMaxMomentResist += 1;
+ }
+ iGear++;
+ }
+
+ // Calculate the X and Y direction non-gear forces to counteract if needed.
+ xForces = -1.0 * ( Aerodynamics->GetForces(eX)
+ + Propulsion->GetForces(eX)
+ + Inertial->GetForces(eX));
+
+ yForces = -1.0 * ( Aerodynamics->GetForces(eY)
+ + Propulsion->GetForces(eY)
+ + Inertial->GetForces(eY));
+
+ // These if statement comparisons probably need some validation and work
+ if (fabs(xForces) < fabs(vMaxStaticGrip(eX))) { // forces exceed gear power
+ vForces(eX) = xForces;
+ }
+
+ if (fabs(yForces) < fabs(vMaxStaticGrip(eY))) { // forces exceed gear power
+ vForces(eY) = yForces;
+ }
+
+ vMoments(eZ) = -(Aerodynamics->GetMoments(eZ) + Propulsion->GetMoments(eZ));
+ }
+ */
+ } else {
+ // Crash Routine
+ }
return false;
} else {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGGroundReactions::LoadGroundReactions(FGConfigFile* AC_cfg)
+bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
{
-//
+ string token;
+
+ AC_cfg->GetNextConfigLine();
+
+ while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
+ lGear.push_back(FGLGear(AC_cfg, FDMExec));
+ }
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGGroundReactions::Debug(void)
+string FGGroundReactions::GetGroundReactionStrings(void)
{
- //TODO: Add your source code here
+ string GroundReactionStrings = "";
+ bool firstime = true;
+
+ for (unsigned int i=0;i<lGear.size();i++) {
+ if (!firstime) GroundReactionStrings += ", ";
+ GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_compressLength, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_compressSpeed, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_Force");
+
+ firstime = false;
+ }
+
+ return GroundReactionStrings;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGGroundReactions::GetGroundReactionValues(void)
+{
+ char buff[20];
+ string GroundReactionValues = "";
+
+ bool firstime = true;
+
+ for (unsigned int i=0;i<lGear.size();i++) {
+ if (!firstime) GroundReactionValues += ", ";
+ GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
+ GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(), 5, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)));
+
+ firstime = false;
+ }
+
+ return GroundReactionValues;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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 FGGroundReactions::Debug(int from)
+{
+ 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: FGGroundReactions" << endl;
+ if (from == 1) cout << "Destroyed: FGGroundReactions" << 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;
+ }
+ }
}
projects / flightgear.git / blobdiff