FGInertial.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 Header:       FGInertial.h
 Author:       Jon S. Berndt
 Date started: 09/13/00
 
 ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
 
 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser General Public License as published by the Free
 Software Foundation; either version 2 of the License, or (at your option) any
 later version.
 
 This program is distributed in the hope that it will be useful, but WITHOUT
 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
 details.
 
 You should have received a copy of the GNU Lesser General Public License along
 with this program; if not, write to the Free Software Foundation, Inc., 59
 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 
 Further information about the GNU Lesser General Public License can also be
 found on the world wide web at http://www.gnu.org.
 
HISTORY
--------------------------------------------------------------------------------
09/13/00   JSB   Created
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#ifndef FGINERTIAL_H
#define FGINERTIAL_H
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#include <memory>
 
#include "FGModel.h"
#include "math/FGLocation.h"
#include "input_output/FGGroundCallback.h"
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
namespace JSBSim {
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
class FGInertial : public FGModel {
 
public:
  explicit FGInertial(FGFDMExec*);
  ~FGInertial(void);
 
  bool Run(bool Holding) override;
  static constexpr double GetStandardGravity(void) { return gAccelReference; }
  const FGColumnVector3& GetGravity(void) const {return vGravAccel;}
  const FGColumnVector3& GetOmegaPlanet() const {return vOmegaPlanet;}
  void SetOmegaPlanet(double rate) {
    vOmegaPlanet = FGColumnVector3(0.0, 0.0, rate);
  }
  double GetSemimajor(void) const {return a;}
  double GetSemiminor(void) const {return b;}
 
 
  double GetContactPoint(const FGLocation& location, FGLocation& contact,
                         FGColumnVector3& normal, FGColumnVector3& velocity,
                         FGColumnVector3& ang_velocity) const
  {
    return GroundCallback->GetAGLevel(location, contact, normal, velocity,
                                      ang_velocity); }
 
  double GetAltitudeAGL(const FGLocation& location) const {
    FGLocation lDummy;
    FGColumnVector3 vDummy;
    return GroundCallback->GetAGLevel(location, lDummy, vDummy, vDummy,
                                      vDummy);
  }
 
  void SetAltitudeAGL(FGLocation& location, double altitudeAGL);
 
  void SetTerrainElevation(double h) {
    GroundCallback->SetTerrainElevation(h);
  }
 
  void SetTime(double time) {
    GroundCallback->SetTime(time);
  }
 
  void SetGroundCallback(FGGroundCallback* gc) { GroundCallback.reset(gc); }
 
  enum eGravType {
    gtStandard,
    gtWGS84
  };
 
  int GetGravityType(void) const { return gravType; }
 
  void SetGravityType(int gt);
 
  FGMatrix33 GetTl2ec(const FGLocation& location) const;
 
  FGMatrix33 GetTec2l(const FGLocation& location) const
  { return GetTl2ec(location).Transposed(); }
 
  struct Inputs {
    FGLocation Position;
  } in;
 
  bool Load(Element* el) override;
 
private:
  // Standard gravity (9.80665 m/s^2) in ft/s^2 which is the gravity at 45 deg.
  // of latitude (see ISA 1976 and Steven & Lewis)
  // It includes the centripetal acceleration.
  static constexpr double gAccelReference = 9.80665 / fttom;
 
  FGColumnVector3 vOmegaPlanet;
  FGColumnVector3 vGravAccel;
  double GM;
  double J2;   // WGS84 value for J2
  double a;    // WGS84 semimajor axis length in feet 
  double b;    // WGS84 semiminor axis length in feet
  int gravType;
  std::unique_ptr<FGGroundCallback> GroundCallback;
 
  double GetGAccel(double r) const;
  FGColumnVector3 GetGravityJ2(const FGLocation& position) const;
  void bind(void);
  void Debug(int from) override;
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif