Latest JSBSim changes, including some gear tweaking from Jon and some

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

diff --git a/src/FDM/JSBSim/FGGroundReactions.cpp b/src/FDM/JSBSim/FGGroundReactions.cpp
index 06983a02cf71e7867afac4fe0aba65a155f1c0bb..3f133eeace2253605406d1a1418314abf350b4de 100644 (file)
--- a/src/FDM/JSBSim/FGGroundReactions.cpp
+++ b/src/FDM/JSBSim/FGGroundReactions.cpp
@@ -45,31 +45,30 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex),
-                                                        vForces(3),
-                                                        vMoments(3),
-                                                        vMaxStaticGrip(3),
-                                                        vMaxMomentResist(3)
+FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
 {
   Name = "FGGroundReactions";
 
-  GearUp = false;
-  if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGGroundReactions::Run(void)
+FGGroundReactions::~FGGroundReactions(void)
 {
-  float steerAngle = 0.0;
-  float xForces = 0.0, yForces = 0.0;
+  Debug(1);
+}
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGGroundReactions::Run(void)
+{
   if (!FGModel::Run()) {
     vForces.InitMatrix();
     vMoments.InitMatrix();
 
     // Only execute gear force code below 300 feet
-    if ( !GearUp && Position->GetDistanceAGL() < 300.0 ) {
+    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.
@@ -82,53 +81,6 @@ bool FGGroundReactions::Run(void)
         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
     }
@@ -147,7 +99,7 @@ bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
 
   AC_cfg->GetNextConfigLine();
 
-  while ((token = AC_cfg->GetValue()) != "/UNDERCARRIAGE") {
+  while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
     lGear.push_back(FGLGear(AC_cfg, FDMExec));
   }
 
@@ -197,9 +149,48 @@ string FGGroundReactions::GetGroundReactionValues(void)
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGGroundReactions::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 FGGroundReactions::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: 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;
+    }
+  }
 }