Encapsulate the interpolstion version of FGEnvironment and fix some bugs

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

diff --git a/src/FDM/JSBSim/FGMassBalance.cpp b/src/FDM/JSBSim/FGMassBalance.cpp
index b6a4619d91bcc127960a1bad550cdf55e82d71f4..582f1d957dc5e7e7991615a5a6930be77bbf4d60 100644 (file)
--- a/src/FDM/JSBSim/FGMassBalance.cpp
+++ b/src/FDM/JSBSim/FGMassBalance.cpp
@@ -39,6 +39,9 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGMassBalance.h"
+#include "FGPropertyManager.h"
+
+namespace JSBSim {
 
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_MASSBALANCE;
@@ -51,6 +54,13 @@ CLASS IMPLEMENTATION
 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);
 }
@@ -59,6 +69,7 @@ FGMassBalance::FGMassBalance(FGFDMExec* fdmex) : FGModel(fdmex)
 
 FGMassBalance::~FGMassBalance()
 {
+  unbind();
   Debug(1);
 }
 
@@ -74,8 +85,8 @@ bool FGMassBalance::Run(void)
 
 // Calculate new CG here.
 
-    vXYZcg = (Propulsion->GetTanksCG() + EmptyWeight*vbaseXYZcg
-                                       + GetPointMassCG()       ) / Weight;
+    vXYZcg = (Propulsion->GetTanksMoment() + EmptyWeight*vbaseXYZcg
+                                       + GetPointMassMoment() ) / Weight;
 
 // Calculate new moments of inertia here
 
@@ -115,7 +126,7 @@ double FGMassBalance::GetPointMassWeight(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGColumnVector3& FGMassBalance::GetPointMassCG(void)
+FGColumnVector3& FGMassBalance::GetPointMassMoment(void)
 {
   PointMassCG.InitMatrix();
 
@@ -131,7 +142,7 @@ double FGMassBalance::GetPMIxx(void)
 {
   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;
@@ -143,7 +154,7 @@ double FGMassBalance::GetPMIyy(void)
 {
   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;
@@ -155,7 +166,7 @@ double FGMassBalance::GetPMIzz(void)
 {
   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;
@@ -167,7 +178,7 @@ double FGMassBalance::GetPMIxy(void)
 {
   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;
@@ -179,12 +190,88 @@ double FGMassBalance::GetPMIxz(void)
 {
   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
@@ -238,4 +325,4 @@ void FGMassBalance::Debug(int from)
     }
   }
 }
-
+}