272 lines
9.7 KiB
C++
272 lines
9.7 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 (jsb@hal-pc.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 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 General Public License for more
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details.
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You should have received a copy of the GNU 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 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 "FGGroundReactions.h"
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#include "FGPropertyManager.h"
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_GROUNDREACTIONS;
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#if defined (__APPLE__)
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/* Not all systems have the gcvt function */
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inline char* gcvt (double value, int ndigits, char *buf) {
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/* note that this is not exactly what gcvt is supposed to do! */
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snprintf (buf, ndigits+1, "%f", value);
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return buf;
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}
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#endif
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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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unbind();
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Debug(1);
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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()) {
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vForces.InitMatrix();
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vMoments.InitMatrix();
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// Only execute gear force code below 300 feet
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if ( Position->GetDistanceAGL() < 300.0 ) {
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vector <FGLGear>::iterator iGear = lGear.begin();
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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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while (iGear != lGear.end()) {
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vForces += iGear->Force();
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vMoments += iGear->Moment();
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iGear++;
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}
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} else {
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// Crash Routine
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}
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return false;
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} else {
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return true;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
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{
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string token;
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AC_cfg->GetNextConfigLine();
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while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
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lGear.push_back(FGLGear(AC_cfg, FDMExec));
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}
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGGroundReactions::GetGroundReactionStrings(void)
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{
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string GroundReactionStrings = "";
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bool firstime = true;
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for (unsigned int i=0;i<lGear.size();i++) {
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if (!firstime) GroundReactionStrings += ", ";
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GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
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GroundReactionStrings += (lGear[i].GetName() + "_stroke, ");
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GroundReactionStrings += (lGear[i].GetName() + "_strokeVel, ");
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GroundReactionStrings += (lGear[i].GetName() + "_CompressForce, ");
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GroundReactionStrings += (lGear[i].GetName() + "_WhlSideForce, ");
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GroundReactionStrings += (lGear[i].GetName() + "_WhlVelVecX, ");
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GroundReactionStrings += (lGear[i].GetName() + "_WhlVelVecY, ");
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GroundReactionStrings += (lGear[i].GetName() + "_WhlRollForce, ");
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GroundReactionStrings += (lGear[i].GetName() + "_BodyXForce, ");
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GroundReactionStrings += (lGear[i].GetName() + "_BodyYForce, ");
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GroundReactionStrings += (lGear[i].GetName() + "_WhlSlipDegrees");
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firstime = false;
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}
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GroundReactionStrings += ", TotalGearForce_X, ";
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GroundReactionStrings += "TotalGearForce_Y, ";
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GroundReactionStrings += "TotalGearForce_Z, ";
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GroundReactionStrings += "TotalGearMoment_L, ";
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GroundReactionStrings += "TotalGearMoment_M, ";
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GroundReactionStrings += "TotalGearMoment_N";
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return GroundReactionStrings;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGGroundReactions::GetGroundReactionValues(void)
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{
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char buff[20];
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string GroundReactionValues = "";
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bool firstime = true;
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for (unsigned int i=0;i<lGear.size();i++) {
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if (!firstime) GroundReactionValues += ", ";
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GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
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GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(), 5, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetWheelVel(eX), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetWheelVel(eY), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetWheelSideForce(), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetWheelRollForce(), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetBodyXForce(), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetBodyYForce(), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(lGear[i].GetWheelSlipAngle(), 6, buff)));
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firstime = false;
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}
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GroundReactionValues += (", " + string(gcvt(vForces(eX), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(vForces(eY), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(vForces(eZ), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(vMoments(eX), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(vMoments(eY), 6, buff)) + ", ");
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GroundReactionValues += (string(gcvt(vMoments(eZ), 6, buff)));
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return GroundReactionValues;
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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,
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&FGGroundReactions::GetNumGearUnits);
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PropertyManager->Tie("moments/l-gear-lbsft", this,1,
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(PMF)&FGGroundReactions::GetMoments);
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PropertyManager->Tie("moments/m-gear-lbsft", this,2,
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(PMF)&FGGroundReactions::GetMoments);
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PropertyManager->Tie("moments/n-gear-lbsft", this,3,
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(PMF)&FGGroundReactions::GetMoments);
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PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
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(PMF)&FGGroundReactions::GetForces);
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PropertyManager->Tie("forces/fby-gear-lbs", this,2,
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(PMF)&FGGroundReactions::GetForces);
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PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
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(PMF)&FGGroundReactions::GetForces);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGGroundReactions::unbind(void)
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{
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PropertyManager->Untie("gear/num-units");
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PropertyManager->Untie("moments/l-gear-lbsft");
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PropertyManager->Untie("moments/m-gear-lbsft");
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PropertyManager->Untie("moments/n-gear-lbsft");
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PropertyManager->Untie("forces/fbx-gear-lbs");
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PropertyManager->Untie("forces/fby-gear-lbs");
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PropertyManager->Untie("forces/fbz-gear-lbs");
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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 == 0) { // Constructor
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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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