FGColumnVector3 FGMassBalance::StructuralToBody(const FGColumnVector3& r) const
{
// Under the assumption that in the structural frame the:
//
// - X-axis is directed afterwards,
// - Y-axis is directed towards the right,
// - Z-axis is directed upwards,
//
// (as documented in http://jsbsim.sourceforge.net/JSBSimCoordinates.pdf)
// we have to subtract first the center of gravity of the plane which
// is also defined in the structural frame:
//
// FGColumnVector3 cgOff = r - vXYZcg;
//
// Next, we do a change of units:
//
// cgOff *= inchtoft;
//
// And then a 180 degree rotation is done about the Y axis so that the:
//
// - X-axis is directed forward,
// - Y-axis is directed towards the right,
// - Z-axis is directed downward.
//
// This is needed because the structural and body frames are 180 degrees apart.
return FGColumnVector3(inchtoft*(vXYZcg(1)-r(1)),
inchtoft*(r(2)-vXYZcg(2)),
inchtoft*(vXYZcg(3)-r(3)));
}
void FGMassBalance::GetMassPropertiesReport(int i)
{
cout << endl << fgblue << highint
<< " Mass Properties Report (English units: lbf, in, slug-ft^2)"
<< reset << endl;
cout << " " << underon << " Weight CG-X CG-Y"
<< " CG-Z Ixx Iyy Izz"
<< " Ixy Ixz Iyz" << underoff << endl;
cout.precision(1);
cout << highint << setw(34) << left << " Base Vehicle " << normint
<< right << setw(10) << EmptyWeight
<< setw(8) << vbaseXYZcg(eX) << setw(8) << vbaseXYZcg(eY) << setw(8) << vbaseXYZcg(eZ)
<< setw(12) << baseJ(1,1) << setw(12) << baseJ(2,2) << setw(12) << baseJ(3,3)
<< setw(12) << baseJ(1,2) << setw(12) << baseJ(1,3) << setw(12) << baseJ(2,3) << endl;
for (unsigned int i=0;i<PointMasses.size();i++) {
PointMass* pm = PointMasses[i];
double pmweight = pm->GetPointMassWeight();
cout << highint << left << setw(4) << i << setw(30) << pm->GetName() << normint
<< right << setw(10) << pmweight << setw(8) << pm->GetLocation()(eX)
<< setw(8) << pm->GetLocation()(eY) << setw(8) << pm->GetLocation()(eZ)
<< setw(12) << pm->GetPointMassMoI(1,1) << setw(12) << pm->GetPointMassMoI(2,2) << setw(12) << pm->GetPointMassMoI(3,3)
<< setw(12) << pm->GetPointMassMoI(1,2) << setw(12) << pm->GetPointMassMoI(1,3) << setw(12) << pm->GetPointMassMoI(2,3) << endl;
}
cout << FDMExec->GetPropulsionTankReport();
cout << " " << underon << setw(136) << " " << underoff << endl;
cout << highint << left << setw(30) << " Total: " << right << setw(14) << Weight
<< setw(8) << vXYZcg(eX)
<< setw(8) << vXYZcg(eY)
<< setw(8) << vXYZcg(eZ)
<< setw(12) << mJ(1,1)
<< setw(12) << mJ(2,2)
<< setw(12) << mJ(3,3)
<< setw(12) << mJ(1,2)
<< setw(12) << mJ(1,3)
<< setw(12) << mJ(2,3)
<< normint << endl;
cout.setf(ios_base::fixed);
}