Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Source: FGExternalForce.cpp
4 : : Author: Jon Berndt, Dave Culp
5 : : Date started: 9/21/07
6 : :
7 : : ------------- Copyright (C) 2007 Jon S. Berndt (jon@jsbsim.org) -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : HISTORY
27 : : --------------------------------------------------------------------------------
28 : : 9/21/07 JB Created
29 : :
30 : : <external_reactions>
31 : :
32 : : <!-- Interface properties, a.k.a. property declarations -->
33 : : <property> ... </property>
34 : :
35 : : <force name="name" frame="BODY|LOCAL|WIND">
36 : :
37 : : <function> ... </function>
38 : :
39 : : <location unit="units"> <!-- location -->
40 : : <x> value </x>
41 : : <y> value </y>
42 : : <z> value </z>
43 : : </location>
44 : : <direction> <!-- optional for initial direction vector -->
45 : : <x> value </x>
46 : : <y> value </y>
47 : : <z> value </z>
48 : : </direction>
49 : : </force>
50 : :
51 : : </external_reactions>
52 : :
53 : : */
54 : :
55 : : #include "FGExternalForce.h"
56 : : #include "input_output/FGXMLElement.h"
57 : : #include <iostream>
58 : :
59 : : using namespace std;
60 : :
61 : : namespace JSBSim {
62 : :
63 : : static const char *IdSrc = "$Id: FGExternalForce.cpp,v 1.10 2009/10/24 22:59:30 jberndt Exp $";
64 : : static const char *IdHdr = ID_EXTERNALFORCE;
65 : :
66 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 : :
68 : 0 : FGExternalForce::FGExternalForce(FGFDMExec *FDMExec, Element *el, int index): FGForce(FDMExec)
69 : : {
70 : 0 : Element* location_element=0;
71 : 0 : Element* direction_element=0;
72 : 0 : Element* function_element=0;
73 : 0 : string sFrame;
74 : 0 : string BasePropertyName;
75 : 0 : FGColumnVector3 location;
76 : 0 : Magnitude_Function = 0;
77 : 0 : magnitude = 0.0;
78 : 0 : azimuth = 0.0;
79 : :
80 : 0 : PropertyManager = fdmex->GetPropertyManager();
81 : 0 : Name = el->GetAttributeValue("name");
82 : 0 : BasePropertyName = "external_reactions/" + Name;
83 : :
84 : : // The value sent to the sim through the external_forces/{force name}/magnitude
85 : : // property will be multiplied against the unit vector, which can come in
86 : : // initially in the direction vector. The frame in which the vector is defined
87 : : // is specified with the frame attribute. The vector is normalized to magnitude 1.
88 : :
89 : 0 : function_element = el->FindElement("function");
90 [ # # # # ]: 0 : if (function_element) {
91 : 0 : Magnitude_Function = new FGFunction(PropertyManager, function_element);
92 : : } else {
93 : 0 : PropertyManager->Tie( BasePropertyName + "/magnitude",(FGExternalForce*)this, &FGExternalForce::GetMagnitude, &FGExternalForce::SetMagnitude);
94 : 0 : Magnitude_Node = PropertyManager->GetNode(BasePropertyName + "/magnitude");
95 : : }
96 : :
97 : :
98 : : // Set frame (from FGForce).
99 : 0 : sFrame = el->GetAttributeValue("frame");
100 [ # # # # ]: 0 : if (sFrame.empty()) {
101 : 0 : cerr << "No frame specified for external force, \"" << Name << "\"." << endl;
102 : 0 : cerr << "Frame set to Body" << endl;
103 : 0 : ttype = tNone;
104 [ # # # # ]: 0 : } else if (sFrame == "BODY") {
105 : 0 : ttype = tNone;
106 [ # # # # ]: 0 : } else if (sFrame == "LOCAL") {
107 : 0 : ttype = tLocalBody;
108 : 0 : PropertyManager->Tie( BasePropertyName + "/azimuth", (FGExternalForce*)this, &FGExternalForce::GetAzimuth, &FGExternalForce::SetAzimuth);
109 [ # # # # ]: 0 : } else if (sFrame == "WIND") {
110 : 0 : ttype = tWindBody;
111 : : } else {
112 : 0 : cerr << "Invalid frame specified for external force, \"" << Name << "\"." << endl;
113 : 0 : cerr << "Frame set to Body" << endl;
114 : 0 : ttype = tNone;
115 : : }
116 : 0 : PropertyManager->Tie( BasePropertyName + "/x", (FGExternalForce*)this, &FGExternalForce::GetX, &FGExternalForce::SetX);
117 : 0 : PropertyManager->Tie( BasePropertyName + "/y", (FGExternalForce*)this, &FGExternalForce::GetY, &FGExternalForce::SetY);
118 : 0 : PropertyManager->Tie( BasePropertyName + "/z", (FGExternalForce*)this, &FGExternalForce::GetZ, &FGExternalForce::SetZ);
119 : :
120 : 0 : location_element = el->FindElement("location");
121 [ # # # # ]: 0 : if (!location_element) {
122 : 0 : cerr << "No location element specified in force object." << endl;
123 : : } else {
124 : 0 : location = location_element->FindElementTripletConvertTo("IN");
125 : 0 : SetLocation(location);
126 : : }
127 : :
128 : 0 : direction_element = el->FindElement("direction");
129 [ # # # # ]: 0 : if (!direction_element) {
130 : 0 : cerr << "No direction element specified in force object. Default is (0,0,0)." << endl;
131 : : } else {
132 : 0 : vDirection = direction_element->FindElementTripletConvertTo("IN");
133 : 0 : vDirection.Normalize();
134 : : }
135 : :
136 : 0 : Debug(0);
137 : 0 : }
138 : :
139 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
140 : : // Copy constructor
141 : :
142 : 0 : FGExternalForce::FGExternalForce(const FGExternalForce& extForce) : FGForce(extForce)
143 : : {
144 : 0 : magnitude = extForce.magnitude;
145 : 0 : Frame = extForce.Frame;
146 : 0 : vDirection = extForce.vDirection;
147 : 0 : Name = extForce.Name;
148 : 0 : BasePropertyName = extForce.BasePropertyName;
149 : 0 : PropertyManager = extForce.PropertyManager;
150 : 0 : }
151 : :
152 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
153 : :
154 : 0 : FGExternalForce::~FGExternalForce()
155 : : {
156 : 0 : unbind( PropertyManager->GetNode("external_reactions"));
157 [ # # ][ # # ]: 0 : delete Magnitude_Function;
158 : 0 : Debug(1);
159 : 0 : }
160 : :
161 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
162 : :
163 : 0 : void FGExternalForce::SetMagnitude(double mag)
164 : : {
165 : 0 : magnitude = mag;
166 : 0 : vFn = vDirection*mag;
167 : 0 : }
168 : :
169 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
170 : :
171 : 0 : FGColumnVector3& FGExternalForce::GetBodyForces(void)
172 : : {
173 [ # # ]: 0 : if (Magnitude_Function) {
174 : 0 : double mag = Magnitude_Function->GetValue();
175 : 0 : SetMagnitude(mag);
176 : : }
177 : :
178 : 0 : return FGForce::GetBodyForces();
179 : : }
180 : :
181 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
182 : :
183 : 0 : void FGExternalForce::unbind(FGPropertyManager *node)
184 : : {
185 : 0 : int N = node->nChildren();
186 [ # # ]: 0 : for (int i=0; i<N; i++) {
187 [ # # ]: 0 : if (node->getChild(i)->nChildren() ) {
188 : 0 : unbind( (FGPropertyManager*)node->getChild(i) );
189 [ # # ]: 0 : } else if ( node->getChild(i)->isTied() ) {
190 : 0 : node->getChild(i)->untie();
191 : : }
192 : : }
193 : 0 : }
194 : :
195 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
196 : : // The bitmasked value choices are as follows:
197 : : // unset: In this case (the default) JSBSim would only print
198 : : // out the normally expected messages, essentially echoing
199 : : // the config files as they are read. If the environment
200 : : // variable is not set, debug_lvl is set to 1 internally
201 : : // 0: This requests JSBSim not to output any messages
202 : : // whatsoever.
203 : : // 1: This value explicity requests the normal JSBSim
204 : : // startup messages
205 : : // 2: This value asks for a message to be printed out when
206 : : // a class is instantiated
207 : : // 4: When this value is set, a message is displayed when a
208 : : // FGModel object executes its Run() method
209 : : // 8: When this value is set, various runtime state variables
210 : : // are printed out periodically
211 : : // 16: When set various parameters are sanity checked and
212 : : // a message is printed out when they go out of bounds
213 : :
214 : 0 : void FGExternalForce::Debug(int from)
215 : : {
216 [ # # ]: 0 : if (debug_lvl <= 0) return;
217 : :
218 [ # # ]: 0 : if (debug_lvl & 1) { // Standard console startup message output
219 [ # # ]: 0 : if (from == 0) { // Constructor
220 : 0 : cout << " " << Name << endl;
221 : 0 : cout << " Frame: " << Frame << endl;
222 : 0 : cout << " Location: (" << vXYZn(eX) << ", " << vXYZn(eY) << ", " << vXYZn(eZ) << ")" << endl;
223 : : }
224 : : }
225 [ # # ]: 0 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
226 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGExternalForce" << endl;
227 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGExternalForce" << endl;
228 : : }
229 : 0 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
230 : : }
231 : 0 : if (debug_lvl & 8 ) { // Runtime state variables
232 : : }
233 : 0 : if (debug_lvl & 16) { // Sanity checking
234 : : }
235 [ # # ]: 0 : if (debug_lvl & 64) {
236 [ # # ]: 0 : if (from == 0) { // Constructor
237 : 0 : cout << IdSrc << endl;
238 : 0 : cout << IdHdr << endl;
239 : : }
240 : : }
241 : : }
242 [ + + ][ + - ]: 12 : }
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