X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGMassBalance.h;h=c7468c5dbe0e9b6c0cda14945f7abc0d60cf53de;hb=4a817a63079733469d76905902509a40af019535;hp=34f6f9cd6bc127c59853993c72f77d033ac9362f;hpb=050221c30697d5abc9658f5b626418286895c16b;p=flightgear.git diff --git a/src/FDM/JSBSim/models/FGMassBalance.h b/src/FDM/JSBSim/models/FGMassBalance.h index 34f6f9cd6..c7468c5db 100644 --- a/src/FDM/JSBSim/models/FGMassBalance.h +++ b/src/FDM/JSBSim/models/FGMassBalance.h @@ -4,7 +4,7 @@ Author: Jon S. Berndt Date started: 09/12/2000 - ------------- Copyright (C) 2000 Jon S. Berndt (jsb@hal-pc.org) -------------- + ------------- Copyright (C) 2000 Jon S. Berndt (jon@jsbsim.org) -------------- This program is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software @@ -39,21 +39,24 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGModel.h" -#include -#include -#include +#include "math/FGColumnVector3.h" +#include "math/FGMatrix33.h" +#include "input_output/FGXMLElement.h" #include +#include /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_MASSBALANCE "$Id$" +#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.22 2010/11/18 12:38:06 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONSS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ +using std::string; + namespace JSBSim { /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -62,7 +65,11 @@ CLASS DOCUMENTATION /** Models weight, balance and moment of inertia information. Maintains a vector of point masses. Sums the contribution of all, and provides this to FGPropagate. - Loads the \ section of the aircraft configuration file. + Loads the \ section of the aircraft configuration file. There + can be any number of . Each can also have a shape which - if + present - causes an associated moment of inertia to be calculated based on + the shape. Note that a cylinder is solid, a tube is hollow, a ball is solid + and a sphere is hollow.

Configuration File Format:

@code @@ -74,20 +81,24 @@ CLASS DOCUMENTATION {number} {number} {number} - + {number} {number} {number} - + [ +
+ {number} + {number} +
{number} - + {number} {number} {number} - ... other point masses ... + ... other point masses ...] @endcode */ @@ -107,10 +118,13 @@ public: bool InitModel(void); bool Run(void); - inline double GetMass(void) const {return Mass;} - inline double GetWeight(void) const {return Weight;} - inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;} - inline double GetXYZcg(int axis) const {return vXYZcg(axis);} + double GetMass(void) const {return Mass;} + double GetWeight(void) const {return Weight;} + double GetEmptyWeight(void) const {return EmptyWeight;} + const FGColumnVector3& GetXYZcg(void) const {return vXYZcg;} + double GetXYZcg(int axis) const {return vXYZcg(axis);} + const FGColumnVector3& GetDeltaXYZcg(void) const {return vDeltaXYZcg;} + double GetDeltaXYZcg(int axis) const {return vDeltaXYZcg(axis);} /** Computes the inertia contribution of a pointmass. Computes and returns the inertia matrix of a pointmass of mass @@ -146,16 +160,17 @@ public: */ FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const; - inline void SetEmptyWeight(double EW) { EmptyWeight = EW;} - inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;} + void SetEmptyWeight(double EW) { EmptyWeight = EW;} + void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;} void AddPointMass(Element* el); double GetTotalPointMassWeight(void); FGColumnVector3& GetPointMassMoment(void); - FGMatrix33& GetJ(void) {return mJ;} - FGMatrix33& GetJinv(void) {return mJinv;} + const FGMatrix33& GetJ(void) const {return mJ;} + const FGMatrix33& GetJinv(void) const {return mJinv;} void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;} + void GetMassPropertiesReport(void) const; private: double Weight; @@ -166,42 +181,80 @@ private: FGMatrix33 pmJ; FGMatrix33 baseJ; FGColumnVector3 vXYZcg; + FGColumnVector3 vLastXYZcg; + FGColumnVector3 vDeltaXYZcg; + FGColumnVector3 vDeltaXYZcgBody; FGColumnVector3 vXYZtank; FGColumnVector3 vbaseXYZcg; FGColumnVector3 vPMxyz; FGColumnVector3 PointMassCG; FGMatrix33& CalculatePMInertias(void); + + /** The PointMass structure encapsulates a point mass object, moments of inertia + mass, location, etc. */ struct PointMass { PointMass(double w, FGColumnVector3& vXYZ) { Weight = w; Location = vXYZ; + mPMInertia.InitMatrix(); + Radius = 0.0; + Length = 0.0; } + + void CalculateShapeInertia(void) { + switch(eShapeType) { + case esTube: + mPMInertia(1,1) = (Weight/(slugtolb))*Radius*Radius; // mr^2 + mPMInertia(2,2) = (Weight/(slugtolb*12))*(6*Radius*Radius + Length*Length); + mPMInertia(3,3) = mPMInertia(2,2); + break; + case esCylinder: + mPMInertia(1,1) = (Weight/(slugtolb*2))*Radius*Radius; // 0.5*mr^2 + mPMInertia(2,2) = (Weight/(slugtolb*12))*(3*Radius*Radius + Length*Length); + mPMInertia(3,3) = mPMInertia(2,2); + break; + case esSphere: + mPMInertia(1,1) = (Weight/(slugtolb*3))*Radius*Radius*2; // (2mr^2)/3 + mPMInertia(2,2) = mPMInertia(1,1); + mPMInertia(3,3) = mPMInertia(1,1); + case esBall: + mPMInertia(1,1) = (Weight/(slugtolb*5))*Radius*Radius*2; // (2mr^2)/5 + mPMInertia(2,2) = mPMInertia(1,1); + mPMInertia(3,3) = mPMInertia(1,1); + break; + default: + break; + } + } + + enum esShape {esUnspecified, esTube, esCylinder, esSphere, esBall} eShapeType; FGColumnVector3 Location; - double Weight; + double Weight; /// Weight in pounds. + double Radius; /// Radius in feet. + double Length; /// Length in feet. + string Name; + FGMatrix33 mPMInertia; + double GetPointMassLocation(int axis) const {return Location(axis);} + double GetPointMassWeight(void) const {return Weight;} + esShape GetShapeType(void) {return eShapeType;} + FGColumnVector3 GetLocation(void) {return Location;} + FGMatrix33 GetPointMassInertia(void) {return mPMInertia;} + string GetName(void) {return Name;} + void SetPointMassLocation(int axis, double value) {Location(axis) = value;} void SetPointMassWeight(double wt) {Weight = wt;} - double GetPointMassWeight(void) const {return Weight;} + void SetPointMassShapeType(esShape st) {eShapeType = st;} + void SetRadius(double r) {Radius = r;} + void SetLength(double l) {Length = l;} + void SetName(string name) {Name = name;} + double GetPointMassMoI(int r, int c) {return mPMInertia(r,c);} - void bind(FGPropertyManager* PropertyManager, int num) { - string tmp = CreateIndexedPropertyName("inertia/pointmass-weight-lbs", num); - PropertyManager->Tie( tmp.c_str(), this, &PointMass::GetPointMassWeight, - &PointMass::SetPointMassWeight); - - tmp = CreateIndexedPropertyName("inertia/pointmass-location-X-inches", num); - PropertyManager->Tie( tmp.c_str(), this, eX, &PointMass::GetPointMassLocation, - &PointMass::SetPointMassLocation); - tmp = CreateIndexedPropertyName("inertia/pointmass-location-Y-inches", num); - PropertyManager->Tie( tmp.c_str(), this, eY, &PointMass::GetPointMassLocation, - &PointMass::SetPointMassLocation); - tmp = CreateIndexedPropertyName("inertia/pointmass-location-Z-inches", num); - PropertyManager->Tie( tmp.c_str(), this, eZ, &PointMass::GetPointMassLocation, - &PointMass::SetPointMassLocation); - } + void bind(FGPropertyManager* PropertyManager, int num); }; - vector PointMasses; + std::vector PointMasses; void bind(void); void Debug(int from);