Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGBuoyantForces.cpp
4 : : Authors: Anders Gidenstam, Jon S. Berndt
5 : : Date started: 01/21/08
6 : : Purpose: Encapsulates the buoyant forces
7 : :
8 : : ------------- Copyright (C) 2008 - 2010 Anders Gidenstam -------------
9 : : ------------- Copyright (C) 2008 Jon S. Berndt (jon@jsbsim.org) -------------
10 : :
11 : : This program is free software; you can redistribute it and/or modify it under
12 : : the terms of the GNU Lesser General Public License as published by the Free Software
13 : : Foundation; either version 2 of the License, or (at your option) any later
14 : : version.
15 : :
16 : : This program is distributed in the hope that it will be useful, but WITHOUT
17 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 : : details.
20 : :
21 : : You should have received a copy of the GNU Lesser General Public License along with
22 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23 : : Place - Suite 330, Boston, MA 02111-1307, USA.
24 : :
25 : : Further information about the GNU Lesser General Public License can also be found on
26 : : the world wide web at http://www.gnu.org.
27 : :
28 : : FUNCTIONAL DESCRIPTION
29 : : --------------------------------------------------------------------------------
30 : :
31 : : HISTORY
32 : : --------------------------------------------------------------------------------
33 : : 01/21/08 JSB Created
34 : :
35 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 : : INCLUDES
37 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
38 : :
39 : : #include "FGBuoyantForces.h"
40 : : #include "FGMassBalance.h"
41 : : #include "input_output/FGPropertyManager.h"
42 : : #include <iostream>
43 : :
44 : : using namespace std;
45 : :
46 : : namespace JSBSim {
47 : :
48 : : static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.12 2010/05/07 18:59:55 andgi Exp $";
49 : : static const char *IdHdr = ID_BUOYANTFORCES;
50 : :
51 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 : : CLASS IMPLEMENTATION
53 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
54 : :
55 : 2 : FGBuoyantForces::FGBuoyantForces(FGFDMExec* FDMExec) : FGModel(FDMExec)
56 : : {
57 : 1 : Name = "FGBuoyantForces";
58 : :
59 : 1 : NoneDefined = true;
60 : :
61 : 1 : vTotalForces.InitMatrix();
62 : 1 : vTotalMoments.InitMatrix();
63 : :
64 : 1 : gasCellJ.InitMatrix();
65 : :
66 : 1 : Debug(0);
67 : 1 : }
68 : :
69 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
70 : :
71 : 1 : FGBuoyantForces::~FGBuoyantForces()
72 : : {
73 [ # # ][ - + ]: 1 : for (unsigned int i=0; i<Cells.size(); i++) delete Cells[i];
[ # # ][ # # ]
74 : 1 : Cells.clear();
75 : :
76 : 1 : Debug(1);
77 : 2 : }
78 : :
79 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
80 : :
81 : 1 : bool FGBuoyantForces::InitModel(void)
82 : : {
83 [ - + ]: 1 : if (!FGModel::InitModel()) return false;
84 : :
85 : 1 : return true;
86 : : }
87 : :
88 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
89 : :
90 : 54005 : bool FGBuoyantForces::Run(void)
91 : : {
92 [ - + ]: 54005 : if (FGModel::Run()) return true;
93 [ - + ]: 54005 : if (FDMExec->Holding()) return false; // if paused don't execute
94 [ + - ]: 54005 : if (NoneDefined) return true;
95 : :
96 : 0 : RunPreFunctions();
97 : :
98 : 0 : vTotalForces.InitMatrix();
99 : 0 : vTotalMoments.InitMatrix();
100 : :
101 [ # # ]: 0 : for (unsigned int i=0; i<Cells.size(); i++) {
102 : 0 : Cells[i]->Calculate(FDMExec->GetDeltaT());
103 : 0 : vTotalForces += Cells[i]->GetBodyForces();
104 : 0 : vTotalMoments += Cells[i]->GetMoments();
105 : : }
106 : :
107 : 0 : RunPostFunctions();
108 : :
109 : 54005 : return false;
110 : : }
111 : :
112 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
113 : :
114 : 0 : bool FGBuoyantForces::Load(Element *element)
115 : : {
116 : 0 : string fname="", file="";
117 : : Element *gas_cell_element;
118 : :
119 : 0 : Debug(2);
120 : :
121 : 0 : string separator = "/";
122 : :
123 : 0 : fname = element->GetAttributeValue("file");
124 [ # # ]: 0 : if (!fname.empty()) {
125 : 0 : file = FDMExec->GetFullAircraftPath() + separator + fname;
126 : 0 : document = LoadXMLDocument(file);
127 : : } else {
128 : 0 : document = element;
129 : : }
130 : :
131 : 0 : FGModel::Load(element); // Perform base class Load
132 : :
133 : 0 : gas_cell_element = document->FindElement("gas_cell");
134 [ # # ]: 0 : while (gas_cell_element) {
135 : 0 : NoneDefined = false;
136 : 0 : Cells.push_back(new FGGasCell(FDMExec, gas_cell_element, Cells.size()));
137 : 0 : gas_cell_element = document->FindNextElement("gas_cell");
138 : : }
139 : :
140 : 0 : PostLoad(element, PropertyManager);
141 : :
142 [ # # ]: 0 : if (!NoneDefined) {
143 : 0 : bind();
144 : : }
145 : :
146 : 0 : return true;
147 : : }
148 : :
149 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
150 : :
151 : 54007 : double FGBuoyantForces::GetGasMass(void)
152 : : {
153 : 54007 : double Gw = 0.0;
154 : :
155 [ - + ]: 54007 : for (unsigned int i = 0; i < Cells.size(); i++) {
156 : 0 : Gw += Cells[i]->GetMass();
157 : : }
158 : :
159 : 54007 : return Gw;
160 : : }
161 : :
162 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
163 : :
164 : 54006 : const FGColumnVector3& FGBuoyantForces::GetGasMassMoment(void)
165 : : {
166 : 54006 : vXYZgasCell_arm.InitMatrix();
167 [ - + ]: 54006 : for (unsigned int i = 0; i < Cells.size(); i++) {
168 : 0 : vXYZgasCell_arm += Cells[i]->GetMassMoment();
169 : : }
170 : 54006 : return vXYZgasCell_arm;
171 : : }
172 : :
173 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
174 : :
175 : 54006 : const FGMatrix33& FGBuoyantForces::GetGasMassInertia(void)
176 : : {
177 : 108012 : const unsigned int size = Cells.size();
178 : :
179 [ + - ]: 54006 : if (size == 0) return gasCellJ;
180 : :
181 : 0 : gasCellJ = FGMatrix33();
182 : :
183 [ # # ]: 0 : for (unsigned int i=0; i < size; i++) {
184 : 0 : FGColumnVector3 v = MassBalance->StructuralToBody( Cells[i]->GetXYZ() );
185 : : // Body basis is in FT.
186 : 0 : const double mass = Cells[i]->GetMass();
187 : :
188 : : // FIXME: Verify that this is the correct way to change between the
189 : : // coordinate frames.
190 : : gasCellJ += Cells[i]->GetInertia() +
191 : : FGMatrix33( 0, - mass*v(1)*v(2), - mass*v(1)*v(3),
192 : : - mass*v(2)*v(1), 0, - mass*v(2)*v(3),
193 : 0 : - mass*v(3)*v(1), - mass*v(3)*v(2), 0 );
194 : : }
195 : :
196 : 54006 : return gasCellJ;
197 : : }
198 : :
199 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
200 : :
201 : 0 : string FGBuoyantForces::GetBuoyancyStrings(string delimeter)
202 : : {
203 : 0 : string CoeffStrings = "";
204 : : /*
205 : : bool firstime = true;
206 : : for (sd = 0; sd < variables.size(); sd++) {
207 : : if (firstime) {
208 : : firstime = false;
209 : : } else {
210 : : CoeffStrings += delimeter;
211 : : }
212 : : CoeffStrings += variables[sd]->GetName();
213 : : }
214 : :
215 : : for (axis = 0; axis < 6; axis++) {
216 : : for (sd = 0; sd < Coeff[axis].size(); sd++) {
217 : : if (firstime) {
218 : : firstime = false;
219 : : } else {
220 : : CoeffStrings += delimeter;
221 : : }
222 : : CoeffStrings += Coeff[axis][sd]->GetName();
223 : : }
224 : : }
225 : : */
226 : : return CoeffStrings;
227 : : }
228 : :
229 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
230 : :
231 : 0 : string FGBuoyantForces::GetBuoyancyValues(string delimeter)
232 : : {
233 : 0 : string SDValues = "";
234 : : /*
235 : : bool firstime = true;
236 : : for (sd = 0; sd < variables.size(); sd++) {
237 : : if (firstime) {
238 : : firstime = false;
239 : : } else {
240 : : SDValues += delimeter;
241 : : }
242 : : SDValues += variables[sd]->GetValueAsString();
243 : : }
244 : :
245 : : for (unsigned int axis = 0; axis < 6; axis++) {
246 : : for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
247 : : if (firstime) {
248 : : firstime = false;
249 : : } else {
250 : : SDValues += delimeter;
251 : : }
252 : : SDValues += Coeff[axis][sd]->GetValueAsString();
253 : : }
254 : : }
255 : : */
256 : : return SDValues;
257 : : }
258 : :
259 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
260 : :
261 : 0 : void FGBuoyantForces::bind(void)
262 : : {
263 : : typedef double (FGBuoyantForces::*PMF)(int) const;
264 : : PropertyManager->Tie("moments/l-buoyancy-lbsft", this, eL,
265 : 0 : (PMF)&FGBuoyantForces::GetMoments);
266 : : PropertyManager->Tie("moments/m-buoyancy-lbsft", this, eM,
267 : 0 : (PMF)&FGBuoyantForces::GetMoments);
268 : : PropertyManager->Tie("moments/n-buoyancy-lbsft", this, eN,
269 : 0 : (PMF)&FGBuoyantForces::GetMoments);
270 : : PropertyManager->Tie("forces/fbx-buoyancy-lbs", this, eX,
271 : 0 : (PMF)&FGBuoyantForces::GetForces);
272 : : PropertyManager->Tie("forces/fby-buoyancy-lbs", this, eY,
273 : 0 : (PMF)&FGBuoyantForces::GetForces);
274 : : PropertyManager->Tie("forces/fbz-buoyancy-lbs", this, eZ,
275 : 0 : (PMF)&FGBuoyantForces::GetForces);
276 : 0 : }
277 : :
278 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
279 : : // The bitmasked value choices are as follows:
280 : : // unset: In this case (the default) JSBSim would only print
281 : : // out the normally expected messages, essentially echoing
282 : : // the config files as they are read. If the environment
283 : : // variable is not set, debug_lvl is set to 1 internally
284 : : // 0: This requests JSBSim not to output any messages
285 : : // whatsoever.
286 : : // 1: This value explicity requests the normal JSBSim
287 : : // startup messages
288 : : // 2: This value asks for a message to be printed out when
289 : : // a class is instantiated
290 : : // 4: When this value is set, a message is displayed when a
291 : : // FGModel object executes its Run() method
292 : : // 8: When this value is set, various runtime state variables
293 : : // are printed out periodically
294 : : // 16: When set various parameters are sanity checked and
295 : : // a message is printed out when they go out of bounds
296 : :
297 : 2 : void FGBuoyantForces::Debug(int from)
298 : : {
299 [ + - ]: 2 : if (debug_lvl <= 0) return;
300 : :
301 [ + - ]: 2 : if (debug_lvl & 1) { // Standard console startup message output
302 [ - + ]: 2 : if (from == 2) { // Loader
303 : 0 : cout << endl << " Buoyant Forces: " << endl;
304 : : }
305 : : }
306 [ - + ]: 2 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
307 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGBuoyantForces" << endl;
308 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGBuoyantForces" << endl;
309 : : }
310 : 2 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
311 : : }
312 : 2 : if (debug_lvl & 8 ) { // Runtime state variables
313 : : }
314 : 2 : if (debug_lvl & 16) { // Sanity checking
315 : : }
316 [ - + ]: 2 : if (debug_lvl & 64) {
317 [ # # ]: 0 : if (from == 0) { // Constructor
318 : 0 : cout << IdSrc << endl;
319 : 0 : cout << IdHdr << endl;
320 : : }
321 : : }
322 : : }
323 : :
324 [ + + ][ + - ]: 12 : } // namespace JSBSim
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