%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGMassBalance.h"
+#include "FGPropertyManager.h"
+
+namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_MASSBALANCE;
FGMassBalance::FGMassBalance(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGMassBalance";
+ Weight = EmptyWeight = Mass = 0.0;
+ Ixx = Iyy = Izz = Ixy = Ixz = 0.0;
+ baseIxx = baseIyy = baseIzz = baseIxy = baseIxz = 0.0;
+ vbaseXYZcg(eX) = 0.0;
+ vbaseXYZcg(eY) = 0.0;
+ vbaseXYZcg(eZ) = 0.0;
+ bind();
Debug(0);
}
FGMassBalance::~FGMassBalance()
{
+ unbind();
Debug(1);
}
// Calculate new CG here.
- vXYZcg = (Propulsion->GetTanksCG() + EmptyWeight*vbaseXYZcg
- + GetPointMassCG() ) / Weight;
+ vXYZcg = (Propulsion->GetTanksMoment() + EmptyWeight*vbaseXYZcg
+ + GetPointMassMoment() ) / Weight;
// Calculate new moments of inertia here
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGColumnVector3& FGMassBalance::GetPointMassCG(void)
+FGColumnVector3& FGMassBalance::GetPointMassMoment(void)
{
PointMassCG.InitMatrix();
{
double I = 0.0;
for (unsigned int i=0; i<PointMassLoc.size(); i++) {
- I += PointMassLoc[i](eX)*PointMassLoc[i](eX)*PointMassWeight[i];
+ I += (PointMassLoc[i](eX)-vXYZcg(eX))*(PointMassLoc[i](eX)-vXYZcg(eX))*PointMassWeight[i];
}
I /= (144.0*Inertial->gravity());
return I;
{
double I = 0.0;
for (unsigned int i=0; i<PointMassLoc.size(); i++) {
- I += PointMassLoc[i](eY)*PointMassLoc[i](eY)*PointMassWeight[i];
+ I += (PointMassLoc[i](eY)-vXYZcg(eY))*(PointMassLoc[i](eY)-vXYZcg(eY))*PointMassWeight[i];
}
I /= (144.0*Inertial->gravity());
return I;
{
double I = 0.0;
for (unsigned int i=0; i<PointMassLoc.size(); i++) {
- I += PointMassLoc[i](eZ)*PointMassLoc[i](eZ)*PointMassWeight[i];
+ I += (PointMassLoc[i](eZ)-vXYZcg(eZ))*(PointMassLoc[i](eZ)-vXYZcg(eZ))*PointMassWeight[i];
}
I /= (144.0*Inertial->gravity());
return I;
{
double I = 0.0;
for (unsigned int i=0; i<PointMassLoc.size(); i++) {
- I += PointMassLoc[i](eX)*PointMassLoc[i](eY)*PointMassWeight[i];
+ I += (PointMassLoc[i](eX)-vXYZcg(eX))*(PointMassLoc[i](eY)-vXYZcg(eY))*PointMassWeight[i];
}
I /= (144.0*Inertial->gravity());
return I;
{
double I = 0.0;
for (unsigned int i=0; i<PointMassLoc.size(); i++) {
- I += PointMassLoc[i](eX)*PointMassLoc[i](eZ)*PointMassWeight[i];
+ I += (PointMassLoc[i](eX)-vXYZcg(eX))*(PointMassLoc[i](eZ)-vXYZcg(eZ))*PointMassWeight[i];
}
I /= (144.0*Inertial->gravity());
return I;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGColumnVector3 FGMassBalance::StructuralToBody(const FGColumnVector3& r) const
+{
+ // Under the assumption that in the structural frame the:
+ //
+ // - X-axis is directed afterwards,
+ // - Y-axis is directed towards the right,
+ // - Z-axis is directed upwards,
+ //
+ // (as documented in http://jsbsim.sourceforge.net/JSBSimCoordinates.pdf)
+ // we have to subtract first the center of gravity of the plane which
+ // is also defined in the structural frame:
+ //
+ // FGColumnVector3 cgOff = r - vXYZcg;
+ //
+ // Next, we do a change of units:
+ //
+ // cgOff *= inchtoft;
+ //
+ // And then a 180 degree rotation is done about the Y axis so that the:
+ //
+ // - X-axis is directed forward,
+ // - Y-axis is directed towards the right,
+ // - Z-axis is directed downward.
+ //
+ // This is needed because the structural and body frames are 180 degrees apart.
+
+ return FGColumnVector3(inchtoft*(vXYZcg(1)-r(1)),
+ inchtoft*(r(2)-vXYZcg(2)),
+ inchtoft*(vXYZcg(3)-r(3)));
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGMassBalance::bind(void)
+{
+ typedef double (FGMassBalance::*PMF)(int) const;
+ PropertyManager->Tie("inertia/mass-slugs", this,
+ &FGMassBalance::GetMass);
+ PropertyManager->Tie("inertia/weight-lbs", this,
+ &FGMassBalance::GetWeight);
+ PropertyManager->Tie("inertia/ixx-lbsft2", this,
+ &FGMassBalance::GetIxx);
+ PropertyManager->Tie("inertia/iyy-lbsft2", this,
+ &FGMassBalance::GetIyy);
+ PropertyManager->Tie("inertia/izz-lbsft2", this,
+ &FGMassBalance::GetIzz);
+ PropertyManager->Tie("inertia/ixy-lbsft2", this,
+ &FGMassBalance::GetIxy);
+ PropertyManager->Tie("inertia/ixz-lbsft2", this,
+ &FGMassBalance::GetIxz);
+ PropertyManager->Tie("inertia/cg-x-ft", this,1,
+ (PMF)&FGMassBalance::GetXYZcg);
+ PropertyManager->Tie("inertia/cg-y-ft", this,2,
+ (PMF)&FGMassBalance::GetXYZcg);
+ PropertyManager->Tie("inertia/cg-z-ft", this,3,
+ (PMF)&FGMassBalance::GetXYZcg);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGMassBalance::unbind(void)
+{
+ PropertyManager->Untie("inertia/mass-slugs");
+ PropertyManager->Untie("inertia/weight-lbs");
+ PropertyManager->Untie("inertia/ixx-lbsft2");
+ PropertyManager->Untie("inertia/iyy-lbsft2");
+ PropertyManager->Untie("inertia/izz-lbsft2");
+ PropertyManager->Untie("inertia/ixy-lbsft2");
+ PropertyManager->Untie("inertia/ixz-lbsft2");
+ PropertyManager->Untie("inertia/cg-x-ft");
+ PropertyManager->Untie("inertia/cg-y-ft");
+ PropertyManager->Untie("inertia/cg-z-ft");
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
cout << "MassBalance::Mass out of bounds: " << Mass << endl;
}
}
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
+}
}
-