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;
25 float _airfoil_incidence_no_lift;
27 float _airfoil_lift_coefficient;
28 float _airfoil_drag_coefficient0;
29 float _airfoil_drag_coefficient1;
31 int _number_of_blades;
32 int _number_of_segments;
40 float _old_tilt_pitch;
48 void setNormal(float* normal);
49 //the normal vector (direction of rotormast, pointing up)
51 void setForward(float* forward);
52 //the normal vector pointing forward (for ele and ail)
53 void setForceAtPitchA(float force);
54 void setPowerAtPitch0(float value);
55 void setPowerAtPitchB(float value);
56 void setNotorque(int value);
57 void setPitchA(float value);
58 void setPitchB(float value);
59 void setMinCyclicail(float value);
60 void setMinCyclicele(float value);
61 void setMaxCyclicail(float value);
62 void setMaxCyclicele(float value);
63 void setMaxCollective(float value);
64 void setMinCollective(float value);
65 void setMinTiltYaw(float value);
66 void setMinTiltPitch(float value);
67 void setMinTiltRoll(float value);
68 void setMaxTiltYaw(float value);
69 void setMaxTiltPitch(float value);
70 void setMaxTiltRoll(float value);
71 void setTiltCenterX(float value);
72 void setTiltCenterY(float value);
73 void setTiltCenterZ(float value);
74 void setTiltYaw(float lval);
75 void setTiltPitch(float lval);
76 void setTiltRoll(float lval);
77 void setDiameter(float value);
78 void setWeightPerBlade(float value);
79 void setNumberOfBlades(float value);
80 void setRelBladeCenter(float value);
81 void setDelta3(float value);
82 void setDelta(float value);
83 void setDynamic(float value);
84 void setTranslift(float value);
85 void setC2(float value);
86 void setStepspersecond(float steps);
87 void setRPM(float value);
88 void setPhiNull(float value);
89 void setRelLenHinge(float value);
90 void setBase(float* base); // in local coordinates
91 void getPosition(float* out);
92 void setCyclicail(float lval,float rval);
93 void setCyclicele(float lval,float rval);
94 void setCollective(float lval);
95 void setAlphaoutput(int i, const char *text);
97 int getCcw() {return _ccw;};
98 void setParameter(char *parametername, float value);
99 void setGlobalGround(double* global_ground, float* global_vel);
100 float getTorqueOfInertia();
101 int getValueforFGSet(int j,char *b,float *f);
102 void setName(const char *text);
103 void inititeration(float dt,float omegarel,float ddt_omegarel,float *rot);
105 void updateDirectionsAndPositions(float *rot);
106 void getTip(float* tip);
107 void calcLiftFactor(float* v, float rho, State *s);
108 void getDownWash(float *pos, float * v_heli, float *downwash);
109 int getNumberOfBlades(){return _number_of_blades;}
111 // Query the list of Rotorpart objects
113 Rotorpart* getRotorpart(int n);
114 void setAlpha0(float f);
115 void setAlphamin(float f);
116 void setAlphamax(float f);
117 void setTeeterdamp(float f);
118 void setMaxteeterdamp(float f);
119 void setRelLenTeeterHinge(float value);
120 void setAlpha0factor(float f);
121 void setTorque(float f);
122 void addTorque(float f);
123 float getTorque() {return _torque;}
124 float getLiftFactor();
125 float getLiftCoef(float incidence,float speed);
126 float getDragCoef(float incidence,float speed);
127 float getOmegaRel() {return _omegarel;}
128 float getOmegaRelNeu() {return _omegarelneu;}
129 void setOmegaRelNeu(float orn) {_omegarelneu=orn;}
130 float getOmegan() {return _omegan;}
131 float getTaper() { return _taper;}
132 float getChord() { return _chord;}
133 int getNumberOfParts() { return _number_of_parts;}
134 float getOverallStall()
135 {if (_stall_v2sum !=0 ) return _stall_sum/_stall_v2sum; else return 0;}
136 float getAirfoilIncidenceNoLift() {return _airfoil_incidence_no_lift;}
138 void findGroundEffectAltitude(Ground * ground_cb,State *s);
139 float *getGravDirection() {return _grav_direction;}
141 void setSharedFlapHinge(bool s);
142 void setBalance(float b);
143 float getBalance(){ return (_balance1>0)?_balance1*_balance2:_balance1;}
146 void testForRotorGroundContact (Ground * ground_cb,State *s);
147 void strncpy(char *dest,const char *src,int maxlen);
148 void interp(float* v1, float* v2, float frac, float* out);
149 float calcStall(float incidence,float speed);
150 float findGroundEffectAltitude(Ground * ground_cb,State *s,
151 float *pos0,float *pos1,float *pos2,float *pos3,
152 int iteration=0,float a0=-1,float a1=-1,float a2=-1,float a3=-1);
153 static void euler2orient(float roll, float pitch, float hdg,
155 Rotorpart* newRotorpart(/*float* pos, float *posforceattac, float *normal,
156 float* speed,float *dirzentforce, */float zentforce,float maxpitchforce,
157 float delta3,float mass,float translift,float rellenhinge,float len);
159 float _groundeffectpos[4][3];
160 float _ground_contact_pos[16][3];
161 int _num_ground_contact_pos;
162 float _ground_effect_altitude;
163 //some postions, where to calcualte the ground effect
164 float _normal[3];//the normal vector (direction of rotormast, pointing up)
165 float _normal_with_yaw_roll[3];//the normal vector (perpendicular to rotordisc)
168 float _weight_per_blade;
169 float _rel_blade_center;
170 float _tilt_center[3];
172 float _min_tilt_pitch;
173 float _min_tilt_roll;
175 float _max_tilt_pitch;
176 float _max_tilt_roll;
179 float _force_at_pitch_a;
181 float _power_at_pitch_0;
182 float _power_at_pitch_b;
187 float _rel_len_hinge;
197 float _stepspersecond;
198 char _alphaoutput[8][256];
201 float _alphamin,_alphamax,_alpha0,_alpha0factor;
202 float _teeterdamp,_maxteeterdamp;
203 float _rellenteeterhinge;
205 float _translift_maxfactor;
206 float _ground_effect_constant;
207 float _vortex_state_lift_factor;
208 float _vortex_state_c1;
209 float _vortex_state_c2;
210 float _vortex_state_c3;
211 float _vortex_state_e1;
212 float _vortex_state_e2;
213 float _vortex_state_e3;
214 float _lift_factor,_f_ge,_f_vs,_f_tl;
216 double _global_ground[4];
220 float _twist; //outer incidence = inner inner incidence + _twist
221 float _rel_len_where_incidence_is_measured;
222 float _torque_of_inertia;
223 float _rel_len_blade_start;
224 float _incidence_stall_zero_speed;
225 float _incidence_stall_half_sonic_speed;
226 float _lift_factor_stall;
227 float _stall_change_over;
228 float _drag_factor_stall;
235 float _cyclic_factor;
236 float _rotor_correction_factor;
238 bool _shared_flap_hinge;
239 float _grav_direction[3];
240 int _properties_tied;
241 bool _directions_and_postions_dirty;
243 std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);
249 float _max_power_engine;
250 float _engine_prop_factor;
251 float _yasimdragfactor;
252 float _yasimliftfactor;
254 float _max_power_rotor_brake;
255 float _rotorgear_friction;
257 float _engine_accel_limit;
258 float _total_torque_on_engine;
264 int isInUse() {return _in_use;}
265 void setInUse() {_in_use = 1;}
267 void addRotor(Rotor* rotor);
268 int getNumRotors() {return _rotors.size();}
269 Rotor* getRotor(int i) {return (Rotor*)_rotors.get(i);}
270 void calcForces(float* torqueOut);
271 void setParameter(char *parametername, float value);
272 void setEngineOn(int value);
274 void setRotorBrake(float lval);
275 void setRotorEngineMaxRelTorque(float lval);
276 void setRotorRelTarget(float lval);
277 float getYasimDragFactor() { return _yasimdragfactor;}
278 float getYasimLiftFactor() { return _yasimliftfactor;}
279 float getMaxPowerEngine() { return _max_power_engine;}
280 float getMaxPowerRotorBrake() { return _max_power_rotor_brake;}
281 float getRotorBrake() { return _rotorbrake;}
282 float getEnginePropFactor() {return _engine_prop_factor;}
283 Vector* getRotors() { return &_rotors;}
284 void initRotorIteration(float *lrot,float dt);
285 void getDownWash(float *pos, float * v_heli, float *downwash);
286 int getValueforFGSet(int j,char *b,float *f);
289 }; // namespace yasim