Sync. with JSBSim CVS

[flightgear.git] / src / FDM / JSBSim / models / FGGroundReactions.cpp

diff --git a/src/FDM/JSBSim/models/FGGroundReactions.cpp b/src/FDM/JSBSim/models/FGGroundReactions.cpp
index 4a430144d6045966df1d64b3c98dc2a95d5cd849..9126c9f812ec768d4a50468a347ab027585cc8d0 100644 (file)
--- a/src/FDM/JSBSim/models/FGGroundReactions.cpp
+++ b/src/FDM/JSBSim/models/FGGroundReactions.cpp
@@ -39,17 +39,59 @@ INCLUDES
 #include <iomanip>
 
 #include "FGGroundReactions.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGFCS.h"
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.31 2010/11/18 12:38:06 jberndt Exp $";
 static const char *IdHdr = ID_GROUNDREACTIONS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
+CLASS IMPLEMENTATION for MultiplierIterator (See below for FGGroundReactions)
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+MultiplierIterator::MultiplierIterator(FGGroundReactions* GndReactions)
+: GroundReactions(GndReactions),
+  multiplier(NULL),
+  gearNum(0),
+  entry(0)
+{
+  for (int i=0; i < GroundReactions->GetNumGearUnits(); i++) {
+               FGLGear* gear = GroundReactions->GetGearUnit(i);
+
+               if (!gear->GetWOW()) continue;
+
+    gearNum = i;
+    multiplier = gear->GetMultiplierEntry(0);
+    break;
+  }
+}
+
+MultiplierIterator& MultiplierIterator::operator++()
+{
+  for (int i=gearNum; i < GroundReactions->GetNumGearUnits(); i++) {
+               FGLGear* gear = GroundReactions->GetGearUnit(i);
+
+    if (!gear->GetWOW()) continue;
+
+    multiplier = gear->GetMultiplierEntry(++entry);
+    if (multiplier) {
+      gearNum = i;
+      break;
+    }
+    else
+      entry = -1;
+  }
+
+  return *this;
+}
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
 {
@@ -86,6 +128,8 @@ bool FGGroundReactions::Run(void)
   if (FGModel::Run()) return true;
   if (FDMExec->Holding()) return false;
 
+  RunPreFunctions();
+
   vForces.InitMatrix();
   vMoments.InitMatrix();
 
@@ -95,16 +139,18 @@ bool FGGroundReactions::Run(void)
   // Perhaps there is some commonality for things which only need to be
   // calculated once.
   for (unsigned int i=0; i<lGear.size(); i++) {
-    vForces  += lGear[i]->Force();
-    vMoments += lGear[i]->Moment();
+    vForces  += lGear[i]->GetBodyForces();
+    vMoments += lGear[i]->GetMoments();
   }
 
+  RunPostFunctions();
+
   return false;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGGroundReactions::GetWOW(void)
+bool FGGroundReactions::GetWOW(void) const
 {
   bool result = false;
   for (unsigned int i=0; i<lGear.size(); i++) {
@@ -116,6 +162,20 @@ bool FGGroundReactions::GetWOW(void)
   return result;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This function must be called after friction forces are resolved in order to
+// include them in the ground reactions total force and moment.
+void FGGroundReactions::UpdateForcesAndMoments(void)
+{
+  vForces.InitMatrix();
+  vMoments.InitMatrix();
+
+  for (unsigned int i=0; i<lGear.size(); i++) {
+    vForces  += lGear[i]->UpdateForces();
+    vMoments += lGear[i]->GetMoments();
+  }
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGGroundReactions::Load(Element* el)
@@ -127,7 +187,7 @@ bool FGGroundReactions::Load(Element* el)
   Element* contact_element = el->FindElement("contact");
   while (contact_element) {
     lGear.push_back(new FGLGear(contact_element, FDMExec, num++));
-    FCS->AddGear(); // make the FCS aware of the landing gear
+    FDMExec->GetFCS()->AddGear(); // make the FCS aware of the landing gear
     contact_element = el->FindNextElement("contact");
   }
   
@@ -135,12 +195,14 @@ bool FGGroundReactions::Load(Element* el)
 
   for (unsigned int i=0; i<lGear.size();i++) lGear[i]->bind();
 
+  PostLoad(el, PropertyManager);
+
   return true;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGGroundReactions::GetGroundReactionStrings(string delimeter)
+string FGGroundReactions::GetGroundReactionStrings(string delimeter) const
 {
   std::ostringstream buf;
 
@@ -175,14 +237,14 @@ string FGGroundReactions::GetGroundReactionStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGGroundReactions::GetGroundReactionValues(string delimeter)
+string FGGroundReactions::GetGroundReactionValues(string delimeter) const
 {
   std::ostringstream buf;
 
   for (unsigned int i=0;i<lGear.size();i++) {
     if (lGear[i]->IsBogey()) {
       FGLGear *gear = lGear[i];
-      buf << (gear->GetWOW() ? "1, " : "0, ")
+      buf << (gear->GetWOW() ? "1" : "0") << delimeter
           << setprecision(5) << gear->GetCompLen() << delimeter
           << setprecision(6) << gear->GetCompVel() << delimeter
           << setprecision(10) << gear->GetCompForce() << delimeter
@@ -214,6 +276,7 @@ void FGGroundReactions::bind(void)
 {
   typedef double (FGGroundReactions::*PMF)(int) const;
   PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
+  PropertyManager->Tie("gear/wow", this, &FGGroundReactions::GetWOW);
   PropertyManager->Tie("moments/l-gear-lbsft", this, eL, (PMF)&FGGroundReactions::GetMoments);
   PropertyManager->Tie("moments/m-gear-lbsft", this, eM, (PMF)&FGGroundReactions::GetMoments);
   PropertyManager->Tie("moments/n-gear-lbsft", this, eN, (PMF)&FGGroundReactions::GetMoments);