Make yasim accept the launchbar and hook properties. They are not tied to anything...

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

diff --git a/src/FDM/JSBSim/FGInertial.cpp b/src/FDM/JSBSim/FGInertial.cpp
index c2632e3d5d0d221fa5465c49c575898ed515b531..d75854a51545298e37ee3df09306e79e2458e4dd 100644 (file)
--- a/src/FDM/JSBSim/FGInertial.cpp
+++ b/src/FDM/JSBSim/FGInertial.cpp
@@ -36,9 +36,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGInertial.h"
-#include "FGPosition.h"
+#include "FGPropagate.h"
+#include "FGState.h"
 #include "FGMassBalance.h"
 
+namespace JSBSim {
+
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_INERTIAL;
 
@@ -47,16 +50,10 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex),
-    vOmegaLocal(3),
-    vForces(3),
-    vRadius(3),
-    vGravity(3)
+FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
 {
   Name = "FGInertial";
 
-  vRadius.InitMatrix();
-  
   // Defaults
   RotationRate    = 0.00007272205217;
   GM              = 14.06252720E15;
@@ -64,59 +61,28 @@ FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex),
   gAccelReference = GM/(RadiusReference*RadiusReference);
   gAccel          = GM/(RadiusReference*RadiusReference);
 
-  if (debug_lvl & 2) cout << "Instantiated: FGInertial" << endl;
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGInertial::~FGInertial(void)
 {
-  if (debug_lvl & 2) cout << "Destroyed:    FGInertial" << endl;
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGInertial::Run(void)
 {
-  double stht, ctht, sphi, cphi;
-
-  if (!FGModel::Run()) {
-
-    gAccel = GM / (Position->GetRadius()*Position->GetRadius());
-
-    stht = sin(Rotation->GetEuler(eTht));
-    ctht = cos(Rotation->GetEuler(eTht));
-    sphi = sin(Rotation->GetEuler(ePhi));
-    cphi = cos(Rotation->GetEuler(ePhi));
-
-    vGravity(eX) = vForces(eX) = -gravity()*stht;
-    vGravity(eY) = vForces(eY) =  gravity()*sphi*ctht;
-    vGravity(eZ) = vForces(eZ) =  gravity()*cphi*ctht;
-    
-    // The following equation for vOmegaLocal terms shows the angular velocity
-    // calculation _for_the_local_frame_ given the earth's rotation (first set)
-    // at the current latitude, and also the component due to the aircraft
-    // motion over the curved surface of the earth (second set).
+  // Fast return if we have nothing to do ...
+  if (FGModel::Run()) return true;
 
-    vOmegaLocal(eX) = omega() * cos(Position->GetLatitude());
-    vOmegaLocal(eY) = 0.0;
-    vOmegaLocal(eZ) = omega() * -sin(Position->GetLatitude());
+  // Gravitation accel
+  double r = Propagate->GetRadius();
+  gAccel = GetGAccel(r);
 
-    vOmegaLocal(eX) +=  Position->GetVe() / Position->GetRadius();
-    vOmegaLocal(eY) += -Position->GetVn() / Position->GetRadius();
-    vOmegaLocal(eZ) +=  0.00;
-
-//    vForces = State->GetTl2b()*(-2.0*vOmegaLocal * Position->GetVel());
-
-    vRadius(3) = Position->GetRadius();
-    vForces += State->GetTl2b()*(vOmegaLocal * (vOmegaLocal * vRadius));
-
-    vForces *= MassBalance->GetMass(); // IMPORTANT !!!!!!!!!!!!!!!!!!!!!!!!!!!!
-    
-    return false;
-  } else {
-    return true;
-  }
+  return false;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -128,8 +94,48 @@ bool FGInertial::LoadInertial(FGConfigFile* AC_cfg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGInertial::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 FGInertial::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: FGInertial" << endl;
+    if (from == 1) cout << "Destroyed:    FGInertial" << 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;
+    }
+  }
+}
+}