279 lines
9.2 KiB
C++
279 lines
9.2 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGGroundReactions.cpp
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Author: Jon S. Berndt
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Date started: 09/13/00
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Purpose: Encapsulates the ground reaction forces (gear and collision)
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------------- Copyright (C) 2000 Jon S. Berndt (jon@jsbsim.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU Lesser General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
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details.
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You should have received a copy of the GNU Lesser General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU Lesser General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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HISTORY
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--------------------------------------------------------------------------------
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09/13/00 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include <sstream>
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#include <iomanip>
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#include "FGGroundReactions.h"
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#include "FGFCS.h"
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#include "input_output/FGPropertyManager.h"
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using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.26 2009/11/12 13:08:11 jberndt Exp $";
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static const char *IdHdr = ID_GROUNDREACTIONS;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
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{
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Name = "FGGroundReactions";
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bind();
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGGroundReactions::~FGGroundReactions(void)
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{
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for (unsigned int i=0; i<lGear.size();i++) delete lGear[i];
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lGear.clear();
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGGroundReactions::InitModel(void)
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{
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if (!FGModel::InitModel()) return false;
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGGroundReactions::Run(void)
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{
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if (FGModel::Run()) return true;
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if (FDMExec->Holding()) return false;
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RunPreFunctions();
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vForces.InitMatrix();
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vMoments.InitMatrix();
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// Sum forces and moments for all gear, here.
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// Some optimizations may be made here - or rather in the gear code itself.
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// The gear ::Run() method is called several times - once for each gear.
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// Perhaps there is some commonality for things which only need to be
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// calculated once.
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for (unsigned int i=0; i<lGear.size(); i++) {
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vForces += lGear[i]->GetBodyForces();
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vMoments += lGear[i]->GetMoments();
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}
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RunPostFunctions();
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return false;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGGroundReactions::GetWOW(void)
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{
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bool result = false;
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for (unsigned int i=0; i<lGear.size(); i++) {
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if (lGear[i]->IsBogey() && lGear[i]->GetWOW()) {
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result = true;
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break;
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}
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}
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return result;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGGroundReactions::Load(Element* el)
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{
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int num=0;
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Debug(2);
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Element* contact_element = el->FindElement("contact");
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while (contact_element) {
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lGear.push_back(new FGLGear(contact_element, FDMExec, num++));
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FCS->AddGear(); // make the FCS aware of the landing gear
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contact_element = el->FindNextElement("contact");
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}
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FGModel::Load(el); // Perform base class Load
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for (unsigned int i=0; i<lGear.size();i++) lGear[i]->bind();
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FGModel::PostLoad(el);
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGGroundReactions::GetGroundReactionStrings(string delimeter)
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{
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std::ostringstream buf;
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for (unsigned int i=0;i<lGear.size();i++) {
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if (lGear[i]->IsBogey()) {
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string name = lGear[i]->GetName();
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buf << name << " WOW" << delimeter
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<< name << " stroke (ft)" << delimeter
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<< name << " stroke velocity (ft/sec)" << delimeter
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<< name << " compress force (lbs)" << delimeter
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<< name << " wheel side force (lbs)" << delimeter
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<< name << " wheel roll force (lbs)" << delimeter
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<< name << " body X force (lbs)" << delimeter
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<< name << " body Y force (lbs)" << delimeter
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<< name << " wheel velocity vec X (ft/sec)" << delimeter
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<< name << " wheel velocity vec Y (ft/sec)" << delimeter
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<< name << " wheel rolling velocity (ft/sec)" << delimeter
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<< name << " wheel side velocity (ft/sec)" << delimeter
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<< name << " wheel slip (deg)" << delimeter;
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}
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}
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buf << " Total Gear Force_X (lbs)" << delimeter
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<< " Total Gear Force_Y (lbs)" << delimeter
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<< " Total Gear Force_Z (lbs)" << delimeter
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<< " Total Gear Moment_L (ft-lbs)" << delimeter
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<< " Total Gear Moment_M (ft-lbs)" << delimeter
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<< " Total Gear Moment_N (ft-lbs)";
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return buf.str();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGGroundReactions::GetGroundReactionValues(string delimeter)
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{
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std::ostringstream buf;
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for (unsigned int i=0;i<lGear.size();i++) {
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if (lGear[i]->IsBogey()) {
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FGLGear *gear = lGear[i];
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buf << (gear->GetWOW() ? "1" : "0") << delimeter
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<< setprecision(5) << gear->GetCompLen() << delimeter
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<< setprecision(6) << gear->GetCompVel() << delimeter
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<< setprecision(10) << gear->GetCompForce() << delimeter
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<< gear->GetWheelSideForce() << delimeter
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<< gear->GetWheelRollForce() << delimeter
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<< gear->GetBodyXForce() << delimeter
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<< gear->GetBodyYForce() << delimeter
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<< setprecision(6) << gear->GetWheelVel(eX) << delimeter
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<< gear->GetWheelVel(eY) << delimeter
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<< gear->GetWheelRollVel() << delimeter
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<< gear->GetWheelSideVel() << delimeter
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<< gear->GetWheelSlipAngle() << delimeter;
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}
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}
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buf << vForces(eX) << delimeter
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<< vForces(eY) << delimeter
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<< vForces(eZ) << delimeter
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<< vMoments(eX) << delimeter
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<< vMoments(eY) << delimeter
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<< vMoments(eZ);
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return buf.str();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGGroundReactions::bind(void)
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{
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typedef double (FGGroundReactions::*PMF)(int) const;
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PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
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PropertyManager->Tie("moments/l-gear-lbsft", this, eL, (PMF)&FGGroundReactions::GetMoments);
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PropertyManager->Tie("moments/m-gear-lbsft", this, eM, (PMF)&FGGroundReactions::GetMoments);
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PropertyManager->Tie("moments/n-gear-lbsft", this, eN, (PMF)&FGGroundReactions::GetMoments);
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PropertyManager->Tie("forces/fbx-gear-lbs", this, eX, (PMF)&FGGroundReactions::GetForces);
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PropertyManager->Tie("forces/fby-gear-lbs", this, eY, (PMF)&FGGroundReactions::GetForces);
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PropertyManager->Tie("forces/fbz-gear-lbs", this, eZ, (PMF)&FGGroundReactions::GetForces);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGGroundReactions::Debug(int from)
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{
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 2) { // Loading
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cout << endl << " Ground Reactions: " << endl;
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}
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}
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if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
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if (from == 1) cout << "Destroyed: FGGroundReactions" << endl;
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}
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if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
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}
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if (debug_lvl & 8 ) { // Runtime state variables
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}
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if (debug_lvl & 16) { // Sanity checking
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}
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if (debug_lvl & 64) {
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if (from == 0) { // Constructor
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cout << IdSrc << endl;
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cout << IdHdr << endl;
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}
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}
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}
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}
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