%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGGroundReactions.h"
+#include "FGPropertyManager.h"
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_GROUNDREACTIONS;
+#if defined (__APPLE__)
+/* Not all systems have the gcvt function */
+inline char* gcvt (double value, int ndigits, char *buf) {
+ /* note that this is not exactly what gcvt is supposed to do! */
+ snprintf (buf, ndigits+1, "%f", value);
+ return buf;
+}
+#endif
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
{
Name = "FGGroundReactions";
+
+ bind();
Debug(0);
}
FGGroundReactions::~FGGroundReactions(void)
{
+ unbind();
+
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
bool FGGroundReactions::Run(void)
{
-// double steerAngle = 0.0;
-// double xForces = 0.0, yForces = 0.0;
-
if (!FGModel::Run()) {
vForces.InitMatrix();
vMoments.InitMatrix();
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
}
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");
+ GroundReactionStrings += (lGear[i].GetName() + "_stroke, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_strokeVel, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_CompressForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_WhlSideForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_WhlRollForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_BodyXForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_BodyYForce, ");
+ GroundReactionStrings += (lGear[i].GetName() + "_WhlSlipDegrees");
firstime = false;
}
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)));
+ GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetWheelSideForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetWheelRollForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetBodyXForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetBodyYForce(), 6, buff)) + ", ");
+ GroundReactionValues += (string(gcvt(lGear[i].GetWheelSlipAngle(), 6, buff)));
firstime = false;
}
return GroundReactionValues;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::bind(void)
+{
+ typedef double (FGGroundReactions::*PMF)(int) const;
+ PropertyManager->Tie("gear/num-units", this,
+ &FGGroundReactions::GetNumGearUnits);
+ PropertyManager->Tie("moments/l-gear-lbsft", this,1,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/m-gear-lbsft", this,2,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/n-gear-lbsft", this,3,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fby-gear-lbs", this,2,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
+ (PMF)&FGGroundReactions::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::unbind(void)
+{
+ PropertyManager->Untie("gear/num-units");
+ PropertyManager->Untie("moments/l-gear-lbsft");
+ PropertyManager->Untie("moments/m-gear-lbsft");
+ PropertyManager->Untie("moments/n-gear-lbsft");
+ PropertyManager->Untie("forces/fbx-gear-lbs");
+ PropertyManager->Untie("forces/fby-gear-lbs");
+ PropertyManager->Untie("forces/fbz-gear-lbs");
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print