5 #include "Rotorpart.hpp"
6 #include "Integrator.hpp"
7 #include "RigidBody.hpp"
8 #include "BodyEnvironment.hpp"
15 const float rho_null=1.184f; //25DegC, 101325Pa
18 friend std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);
21 float _omega,_omegan,_omegarel,_ddt_omega,_omegarelneu;
24 float _airfoil_incidence_no_lift;
26 float _airfoil_lift_coefficient;
27 float _airfoil_drag_coefficient0;
28 float _airfoil_drag_coefficient1;
30 int _number_of_blades;
31 int _number_of_segments;
39 void setNormal(float* normal);
40 //the normal vector (direction of rotormast, pointing up)
42 void setForward(float* forward);
43 //the normal vector pointing forward (for ele and ail)
44 void setForceAtPitchA(float force);
45 void setPowerAtPitch0(float value);
46 void setPowerAtPitchB(float value);
47 void setNotorque(int value);
48 void setPitchA(float value);
49 void setPitchB(float value);
50 void setMinCyclicail(float value);
51 void setMinCyclicele(float value);
52 void setMaxCyclicail(float value);
53 void setMaxCyclicele(float value);
54 void setMaxCollective(float value);
55 void setMinCollective(float value);
56 void setDiameter(float value);
57 void setWeightPerBlade(float value);
58 void setNumberOfBlades(float value);
59 void setRelBladeCenter(float value);
60 void setDelta3(float value);
61 void setDelta(float value);
62 void setDynamic(float value);
63 void setTranslift(float value);
64 void setC2(float value);
65 void setStepspersecond(float steps);
66 void setRPM(float value);
67 void setRelLenHinge(float value);
68 void setBase(float* base); // in local coordinates
69 void getPosition(float* out);
70 void setCyclicail(float lval,float rval);
71 void setCyclicele(float lval,float rval);
72 void setCollective(float lval);
73 void setAlphaoutput(int i, const char *text);
75 int getCcw() {return _ccw;};
76 void setParameter(char *parametername, float value);
77 void setGlobalGround(double* global_ground, float* global_vel);
78 float getTorqueOfInertia();
79 int getValueforFGSet(int j,char *b,float *f);
80 void setName(const char *text);
81 void inititeration(float dt,float omegarel,float ddt_omegarel,float *rot);
83 void getTip(float* tip);
84 void calcLiftFactor(float* v, float rho, State *s);
85 void getDownWash(float *pos, float * v_heli, float *downwash);
86 int getNumberOfBlades(){return _number_of_blades;}
88 // Query the list of Rotorpart objects
90 Rotorpart* getRotorpart(int n);
91 void setAlpha0(float f);
92 void setAlphamin(float f);
93 void setAlphamax(float f);
94 void setTeeterdamp(float f);
95 void setMaxteeterdamp(float f);
96 void setRelLenTeeterHinge(float value);
97 void setAlpha0factor(float f);
98 void setTorque(float f);
99 void addTorque(float f);
100 float getTorque() {return _torque;}
101 float getLiftFactor();
102 float getLiftCoef(float incidence,float speed);
103 float getDragCoef(float incidence,float speed);
104 float getOmegaRel() {return _omegarel;}
105 float getOmegaRelNeu() {return _omegarelneu;}
106 void setOmegaRelNeu(float orn) {_omegarelneu=orn;}
107 float getOmegan() {return _omegan;}
108 float getTaper() { return _taper;}
109 float getChord() { return _chord;}
110 int getNumberOfParts() { return _number_of_parts;}
111 float getOverallStall()
112 {if (_stall_v2sum !=0 ) return _stall_sum/_stall_v2sum; else return 0;}
113 float getAirfoilIncidenceNoLift() {return _airfoil_incidence_no_lift;}
117 void findGroundEffectAltitude(Ground * ground_cb,State *s);
122 void strncpy(char *dest,const char *src,int maxlen);
123 void interp(float* v1, float* v2, float frac, float* out);
124 float calcStall(float incidence,float speed);
125 float findGroundEffectAltitude(Ground * ground_cb,State *s,
126 float *pos0,float *pos1,float *pos2,float *pos3,
127 int iteration=0,float a0=-1,float a1=-1,float a2=-1,float a3=-1);
128 Rotorpart* newRotorpart(float* pos, float *posforceattac, float *normal,
129 float* speed,float *dirzentforce, float zentforce,float maxpitchforce,
130 float maxpitch, float minpitch, float mincyclic,float maxcyclic,
131 float delta3,float mass,float translift,float rellenhinge,float len);
133 float _groundeffectpos[4][3];
134 float _ground_effect_altitude;
135 //some postions, where to calcualte the ground effect
136 float _normal[3];//the normal vector (direction of rotormast, pointing up)
137 float _normal_with_yaw_roll[3];//the normal vector (perpendicular to rotordisc)
140 float _weight_per_blade;
141 float _rel_blade_center;
144 float _force_at_pitch_a;
146 float _power_at_pitch_0;
147 float _power_at_pitch_b;
152 float _rel_len_hinge;
162 float _stepspersecond;
163 char _alphaoutput[8][256];
166 float _alphamin,_alphamax,_alpha0,_alpha0factor;
167 float _teeterdamp,_maxteeterdamp;
168 float _rellenteeterhinge;
170 float _translift_maxfactor;
171 float _ground_effect_constant;
172 float _vortex_state_lift_factor;
173 float _vortex_state_c1;
174 float _vortex_state_c2;
175 float _vortex_state_c3;
176 float _vortex_state_e1;
177 float _vortex_state_e2;
178 float _vortex_state_e3;
179 float _lift_factor,_f_ge,_f_vs,_f_tl;
181 double _global_ground[4];
185 float _twist; //outer incidence = inner inner incidence + _twist
186 float _rel_len_where_incidence_is_measured;
187 float _torque_of_inertia;
188 float _rel_len_blade_start;
189 float _incidence_stall_zero_speed;
190 float _incidence_stall_half_sonic_speed;
191 float _lift_factor_stall;
192 float _stall_change_over;
193 float _drag_factor_stall;
200 float _cyclic_factor;
201 float _rotor_correction_factor;
203 std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);
209 float _max_power_engine;
210 float _engine_prop_factor;
211 float _yasimdragfactor;
212 float _yasimliftfactor;
214 float _max_power_rotor_brake;
215 float _rotorgear_friction;
217 float _engine_accel_limit;
218 float _total_torque_on_engine;
224 int isInUse() {return _in_use;}
225 void setInUse() {_in_use = 1;}
226 float compile(RigidBody* body);
227 void addRotor(Rotor* rotor);
228 int getNumRotors() {return _rotors.size();}
229 Rotor* getRotor(int i) {return (Rotor*)_rotors.get(i);}
230 void calcForces(float* torqueOut);
231 void setParameter(char *parametername, float value);
232 void setEngineOn(int value);
234 void setRotorBrake(float lval);
235 float getYasimDragFactor() { return _yasimdragfactor;}
236 float getYasimLiftFactor() { return _yasimliftfactor;}
237 float getMaxPowerEngine() { return _max_power_engine;}
238 float getMaxPowerRotorBrake() { return _max_power_rotor_brake;}
239 float getRotorBrake() { return _rotorbrake;}
240 float getEnginePropFactor() {return _engine_prop_factor;}
241 Vector* getRotors() { return &_rotors;}
242 void initRotorIteration(float *lrot,float dt);
243 void getDownWash(float *pos, float * v_heli, float *downwash);
244 int getValueforFGSet(int j,char *b,float *f);
247 }; // namespace yasim