jsbsim-cvslogs

[Bertrand <bco...@us...>]

Update of /cvsroot/jsbsim/JSBSim/src/models
In directory sfp-cvs-1.v30.ch3.sourceforge.com:/tmp/cvs-serv31273/src/models

Modified Files:
	FGExternalForce.cpp FGExternalForce.h FGExternalReactions.cpp 
	FGExternalReactions.h 
Log Message:
New feature: external moments can now be specified in addition to external forces.

Index: FGExternalForce.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGExternalForce.cpp,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -r1.21 -r1.22
*** FGExternalForce.cpp	4 Jun 2017 17:39:57 -0000	1.21
--- FGExternalForce.cpp	4 Jun 2017 21:06:08 -0000	1.22
***************
*** 49,52 ****
--- 49,63 ----
      </force>
  
+     <moment name="name" frame="BODY|LOCAL|WIND">
+ 
+       <function> ... </function>
+ 
+       <direction> <!-- optional for initial direction vector -->
+         <x> value </x>
+         <y> value </y>
+         <z> value </z>
+       </direction>
+     </force>
+ 
  </external_reactions>
  
***************
*** 80,83 ****
--- 91,96 ----
  }
  
+ //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ 
  FGParameter* FGExternalForce::bind(Element *el, FGPropertyManager* pm,
                                     const string& magName, FGPropertyVector3& v)
***************
*** 130,133 ****
--- 143,148 ----
  }
  
+ //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ 
  void FGExternalForce::setForce(Element *el)
  {
***************
*** 156,160 ****
                          &FGForce::GetLocationZ, &FGForce::SetLocationZ);
  }
!   
  //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  
--- 171,189 ----
                          &FGForce::GetLocationZ, &FGForce::SetLocationZ);
  }
! 
! //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
! 
! void FGExternalForce::setMoment(Element *el)
! {
!   FGPropertyManager* PropertyManager = fdmex->GetPropertyManager();
!   Name = el->GetAttributeValue("name");
!   string BasePropertyName = "external_reactions/" + Name;
! 
!   momentDirection = FGPropertyVector3(PropertyManager, BasePropertyName,
!                                       "l", "m", "n");
!   momentMagnitude = bind(el, PropertyManager, BasePropertyName + "/magnitude-lbsft",
!                          momentDirection);
! }
! 
  //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  
***************
*** 162,165 ****
--- 191,195 ----
  {
    delete forceMagnitude;
+   delete momentMagnitude;
    Debug(1);
  }
***************
*** 169,173 ****
  const FGColumnVector3& FGExternalForce::GetBodyForces(void)
  {
!   vFn = forceMagnitude->GetValue() * forceDirection;
    return FGForce::GetBodyForces();
  }
--- 199,208 ----
  const FGColumnVector3& FGExternalForce::GetBodyForces(void)
  {
!   if (forceMagnitude)
!     vFn = forceMagnitude->GetValue() * forceDirection;
! 
!   if (momentMagnitude)
!     vMn = Transform() * (momentMagnitude->GetValue() * momentDirection);
! 
    return FGForce::GetBodyForces();
  }

Index: FGExternalForce.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGExternalForce.h,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -r1.18 -r1.19
*** FGExternalForce.h	4 Jun 2017 17:39:57 -0000	1.18
--- FGExternalForce.h	4 Jun 2017 21:06:08 -0000	1.19
***************
*** 66,71 ****
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  
! /** Encapsulates code that models an individual arbitrary force.
!     This class encapsulates an individual force applied at the specified
      location on the vehicle, and oriented as specified in one of three frames:
  
--- 66,71 ----
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  
! /** Encapsulates code that models an individual arbitrary force, moment or a combination thereof.
!     This class encapsulates an individual reaction applied at the specified
      location on the vehicle, and oriented as specified in one of three frames:
  
***************
*** 106,109 ****
--- 106,134 ----
      @endcode
  
+     The location of the force vector, in structural coordinates, can be set at
+     runtime through the following properties:
+ 
+     @code
+     external_reactions/{force name}/location-x-in
+     external_reactions/{force name}/location-y-in
+     external_reactions/{force name}/location-z-in
+     @endcode
+ 
+     The XML definition of a moment (optional items are in []) is a bit simpler
+     because you do not need to specify the location:
+ 
+     @code
+     <moment name="name" frame="BODY | LOCAL | WIND">
+ 
+       [<function> ... </function>]
+ 
+       [<direction> <!-- optional initial direction vector -->
+         <x> {number} </x>
+         <y> {number} </y>
+         <z> {number} </z>
+       </direction>]
+     </moment>
+     @endcode
+ 
      The initial direction can optionally be set by specifying a unit vector
      in the chosen frame (body, local, or wind).
***************
*** 114,123 ****
      those could be handled in the calling application.
  
!     The force direction is not actually required to be specified as a unit
!     vector, but prior to the force vector being calculated, the direction
!     vector is normalized when initialized.
  
!     The direction can be specified at runtime through setting any/all of the
!     following properties:
  
      @code
--- 139,148 ----
      those could be handled in the calling application.
  
!     The force (or moment) direction is not actually required to be specified as
!     a unit vector, but prior to the force (or moment) vector being calculated,
!     the direction vector is normalized when initialized.
  
!     The force direction can be specified at runtime through setting any/all of
!     the following properties:
  
      @code
***************
*** 127,133 ****
      @endcode
  
      However in that case, the direction is no longer normalized.
  
!     When no <function> has been provided in the definition, the force magnitude
      can be specified through the following property:
  
--- 152,167 ----
      @endcode
  
+     The moment direction can be specified at runtime through setting any/all of
+     the following properties:
+ 
+     @code
+     external_reactions/{moment name}/l
+     external_reactions/{moment name}/m
+     external_reactions/{moment name}/n
+     @endcode
+ 
      However in that case, the direction is no longer normalized.
  
!     When no <function> has been provided in the force definition, its magnitude
      can be specified through the following property:
  
***************
*** 136,148 ****
      @endcode
  
!     The location of the force vector, in structural coordinates, can be set at
!     runtime through the following properties:
  
      @code
!     external_reactions/{force name}/location-x-in
!     external_reactions/{force name}/location-y-in
!     external_reactions/{force name}/location-z-in
      @endcode
- 
  */
  
--- 170,179 ----
      @endcode
  
!     When no <function> has been provided in the moment definition, its magnitude
!     can be specified through the following property:
  
      @code
!     external_reactions/{moment name}/magnitude-lbsft
      @endcode
  */
  
***************
*** 190,194 ****
        @param el pointer to the XML element defining an individual force.
    */
!   FGExternalForce(FGFDMExec *FDMExec) : FGForce(FDMExec) { Debug(0); }
  
    /** Copy Constructor
--- 221,227 ----
        @param el pointer to the XML element defining an individual force.
    */
!   FGExternalForce(FGFDMExec *FDMExec)
!     : FGForce(FDMExec), forceMagnitude(NULL), momentMagnitude(NULL)
!   { Debug(0); }
  
    /** Copy Constructor
***************
*** 201,204 ****
--- 234,238 ----
  
    void setForce(Element* el);
+   void setMoment(Element* el);
    const FGColumnVector3& GetBodyForces(void);
  
***************
*** 208,213 ****
  
    std::string Name;
!   FGParameter* forceMagnitude;
!   FGPropertyVector3 forceDirection;
    void Debug(int from);
  };
--- 242,247 ----
  
    std::string Name;
!   FGParameter *forceMagnitude, *momentMagnitude;
!   FGPropertyVector3 forceDirection, momentDirection;
    void Debug(int from);
  };

Index: FGExternalReactions.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGExternalReactions.cpp,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -r1.24 -r1.25
*** FGExternalReactions.cpp	4 Jun 2017 17:39:57 -0000	1.24
--- FGExternalReactions.cpp	4 Jun 2017 21:06:08 -0000	1.25
***************
*** 87,90 ****
--- 87,99 ----
    }
  
+   // Parse moment elements
+ 
+   Element* moment_element = el->FindElement("moment");
+   while (moment_element) {
+     Forces.push_back(new FGExternalForce(FDMExec));
+     Forces.back()->setMoment(moment_element);
+     moment_element = el->FindNextElement("moment");
+   }
+ 
    PostLoad(el, PropertyManager);
  

Index: FGExternalReactions.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGExternalReactions.h,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -r1.19 -r1.20
*** FGExternalReactions.h	3 Jun 2017 19:49:20 -0000	1.19
--- FGExternalReactions.h	4 Jun 2017 21:06:08 -0000	1.20
***************
*** 62,75 ****
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  
! /** Manages the external and/or arbitrary forces.
      The external reactions capability in JSBSim really should be named
!     "arbitrary forces", because this feature can be used to model a wide
!     variety of forces that act on a vehicle. Some examples include: parachutes,
!     catapult, arresting hook, and tow line.
!     
!     This class acts similarly to the other "manager classes" (FGPropulsion, 
!     FGFCS, FGGroundReactions, FGAerodynamics) because it manages collections
!     of constituent forces. The individual forces are implemented with the
!     FGExternalForce class.
      
      The format of the <em>optional</em> external reactions section in the config
--- 62,76 ----
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  
! /** Manages the external and/or arbitrary forces and moments.
! 
      The external reactions capability in JSBSim really should be named
!     "arbitrary forces and moments", because this feature can be used to model a
!     wide variety of forces and moments that act on a vehicle. Some examples
!     include: parachutes, catapult, arresting hook, and tow line.
!     
!     This class acts similarly to the other "manager classes" (FGPropulsion,
!     FGFCS, FGGroundReactions, FGAerodynamics) because it manages collections of
!     constituent elements. The individual forces and moments are implemented with
!     the FGExternalForce class.
      
      The format of the <em>optional</em> external reactions section in the config
***************
*** 82,93 ****
    <property> ... </property>
      
!   <force name="name" frame="BODY | LOCAL | WIND" unit="unit">
      ...
    </force>
  
!   <!-- Additional force definitions may follow -->
!   <force name="name" frame="BODY | LOCAL | WIND" unit="unit">
      ...
    </force>
  
  </external_reactions>
--- 83,100 ----
    <property> ... </property>
      
!   <force name="name" frame="BODY | LOCAL | WIND">
      ...
    </force>
+   <moment name="name" frame="BODY | LOCAL | WIND">
+     ...
+   </moment>
  
!   <!-- Additional force and moment definitions may follow -->
!   <force name="name" frame="BODY | LOCAL | WIND">
      ...
    </force>
+   <moment name="name" frame="BODY | LOCAL | WIND">
+     ...
+   </moment>
  
  </external_reactions>
***************
*** 95,114 ****
  
      See the FGExternalForce class for more information on the format of the
!     force specification itself.
      
!     When force elements are encountered in the configuration file, a new instance
!     of the FGExternalForce class is created and a pointer to the class is pushed
!     onto the Forces vector.
      
!     This class is one of a few of the manager classes that allows properties
!     to be "declared". In code, these are represented by the
      <em>interface_properties</em> vector. Properties that have not yet been
      created in an already parsed section of the configuration file and that are
!     used in the definition of an external force should be declared in the
!     external_reactions section because they will not be created automatically,
!     and so would cause an error, since the property cannot be found to exist.
          
!     See the FGExternalForce documentation for details on how forces are
!     actually calculated.
    */
  
--- 102,122 ----
  
      See the FGExternalForce class for more information on the format of the
!     force and moment specifications.
      
!     When force or moment elements are encountered in the configuration file, a
!     new instance of the FGExternalForce class is created and a pointer to the
!     class is pushed onto the Forces vector.
      
!     This class is one of a few of the manager classes that allows properties to
!     be "declared". In code, these are represented by the
      <em>interface_properties</em> vector. Properties that have not yet been
      created in an already parsed section of the configuration file and that are
!     used in the definition of an external force or moment should be declared in
!     the external_reactions section because they will not be created
!     automatically, and so would cause an error, since the property cannot be
!     found to exist.
          
!     See the FGExternalForce documentation for details on how forces and moments
!     are actually calculated.
    */