#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);
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+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;
}
}
}
-
+}