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;
42 void setNormal(float* normal);
43 //the normal vector (direction of rotormast, pointing up)
45 void setForward(float* forward);
46 //the normal vector pointing forward (for ele and ail)
47 void setForceAtPitchA(float force);
48 void setPowerAtPitch0(float value);
49 void setPowerAtPitchB(float value);
50 void setNotorque(int value);
51 void setPitchA(float value);
52 void setPitchB(float value);
53 void setMinCyclicail(float value);
54 void setMinCyclicele(float value);
55 void setMaxCyclicail(float value);
56 void setMaxCyclicele(float value);
57 void setMaxCollective(float value);
58 void setMinCollective(float value);
59 void setDiameter(float value);
60 void setWeightPerBlade(float value);
61 void setNumberOfBlades(float value);
62 void setRelBladeCenter(float value);
63 void setDelta3(float value);
64 void setDelta(float value);
65 void setDynamic(float value);
66 void setTranslift(float value);
67 void setC2(float value);
68 void setStepspersecond(float steps);
69 void setRPM(float value);
70 void setPhiNull(float value);
71 void setRelLenHinge(float value);
72 void setBase(float* base); // in local coordinates
73 void getPosition(float* out);
74 void setCyclicail(float lval,float rval);
75 void setCyclicele(float lval,float rval);
76 void setCollective(float lval);
77 void setAlphaoutput(int i, const char *text);
79 int getCcw() {return _ccw;};
80 void setParameter(char *parametername, float value);
81 void setGlobalGround(double* global_ground, float* global_vel);
82 float getTorqueOfInertia();
83 int getValueforFGSet(int j,char *b,float *f);
84 void setName(const char *text);
85 void inititeration(float dt,float omegarel,float ddt_omegarel,float *rot);
87 void getTip(float* tip);
88 void calcLiftFactor(float* v, float rho, State *s);
89 void getDownWash(float *pos, float * v_heli, float *downwash);
90 int getNumberOfBlades(){return _number_of_blades;}
92 // Query the list of Rotorpart objects
94 Rotorpart* getRotorpart(int n);
95 void setAlpha0(float f);
96 void setAlphamin(float f);
97 void setAlphamax(float f);
98 void setTeeterdamp(float f);
99 void setMaxteeterdamp(float f);
100 void setRelLenTeeterHinge(float value);
101 void setAlpha0factor(float f);
102 void setTorque(float f);
103 void addTorque(float f);
104 float getTorque() {return _torque;}
105 float getLiftFactor();
106 float getLiftCoef(float incidence,float speed);
107 float getDragCoef(float incidence,float speed);
108 float getOmegaRel() {return _omegarel;}
109 float getOmegaRelNeu() {return _omegarelneu;}
110 void setOmegaRelNeu(float orn) {_omegarelneu=orn;}
111 float getOmegan() {return _omegan;}
112 float getTaper() { return _taper;}
113 float getChord() { return _chord;}
114 int getNumberOfParts() { return _number_of_parts;}
115 float getOverallStall()
116 {if (_stall_v2sum !=0 ) return _stall_sum/_stall_v2sum; else return 0;}
117 float getAirfoilIncidenceNoLift() {return _airfoil_incidence_no_lift;}
119 void findGroundEffectAltitude(Ground * ground_cb,State *s);
120 float *getGravDirection() {return _grav_direction;}
122 void setSharedFlapHinge(bool s);
123 void setBalance(float b);
124 float getBalance(){ return (_balance1>0)?_balance1*_balance2:_balance1;}
127 void testForRotorGroundContact (Ground * ground_cb,State *s);
128 void strncpy(char *dest,const char *src,int maxlen);
129 void interp(float* v1, float* v2, float frac, float* out);
130 float calcStall(float incidence,float speed);
131 float findGroundEffectAltitude(Ground * ground_cb,State *s,
132 float *pos0,float *pos1,float *pos2,float *pos3,
133 int iteration=0,float a0=-1,float a1=-1,float a2=-1,float a3=-1);
134 Rotorpart* newRotorpart(float* pos, float *posforceattac, float *normal,
135 float* speed,float *dirzentforce, float zentforce,float maxpitchforce,
136 float delta3,float mass,float translift,float rellenhinge,float len);
138 float _groundeffectpos[4][3];
139 float _ground_contact_pos[16][3];
140 int _num_ground_contact_pos;
141 float _ground_effect_altitude;
142 //some postions, where to calcualte the ground effect
143 float _normal[3];//the normal vector (direction of rotormast, pointing up)
144 float _normal_with_yaw_roll[3];//the normal vector (perpendicular to rotordisc)
147 float _weight_per_blade;
148 float _rel_blade_center;
151 float _force_at_pitch_a;
153 float _power_at_pitch_0;
154 float _power_at_pitch_b;
159 float _rel_len_hinge;
169 float _stepspersecond;
170 char _alphaoutput[8][256];
173 float _alphamin,_alphamax,_alpha0,_alpha0factor;
174 float _teeterdamp,_maxteeterdamp;
175 float _rellenteeterhinge;
177 float _translift_maxfactor;
178 float _ground_effect_constant;
179 float _vortex_state_lift_factor;
180 float _vortex_state_c1;
181 float _vortex_state_c2;
182 float _vortex_state_c3;
183 float _vortex_state_e1;
184 float _vortex_state_e2;
185 float _vortex_state_e3;
186 float _lift_factor,_f_ge,_f_vs,_f_tl;
188 double _global_ground[4];
192 float _twist; //outer incidence = inner inner incidence + _twist
193 float _rel_len_where_incidence_is_measured;
194 float _torque_of_inertia;
195 float _rel_len_blade_start;
196 float _incidence_stall_zero_speed;
197 float _incidence_stall_half_sonic_speed;
198 float _lift_factor_stall;
199 float _stall_change_over;
200 float _drag_factor_stall;
207 float _cyclic_factor;
208 float _rotor_correction_factor;
210 bool _shared_flap_hinge;
211 float _grav_direction[3];
212 int _properties_tied;
214 std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);
220 float _max_power_engine;
221 float _engine_prop_factor;
222 float _yasimdragfactor;
223 float _yasimliftfactor;
225 float _max_power_rotor_brake;
226 float _rotorgear_friction;
228 float _engine_accel_limit;
229 float _total_torque_on_engine;
235 int isInUse() {return _in_use;}
236 void setInUse() {_in_use = 1;}
238 void addRotor(Rotor* rotor);
239 int getNumRotors() {return _rotors.size();}
240 Rotor* getRotor(int i) {return (Rotor*)_rotors.get(i);}
241 void calcForces(float* torqueOut);
242 void setParameter(char *parametername, float value);
243 void setEngineOn(int value);
245 void setRotorBrake(float lval);
246 void setRotorEngineMaxRelTorque(float lval);
247 void setRotorRelTarget(float lval);
248 float getYasimDragFactor() { return _yasimdragfactor;}
249 float getYasimLiftFactor() { return _yasimliftfactor;}
250 float getMaxPowerEngine() { return _max_power_engine;}
251 float getMaxPowerRotorBrake() { return _max_power_rotor_brake;}
252 float getRotorBrake() { return _rotorbrake;}
253 float getEnginePropFactor() {return _engine_prop_factor;}
254 Vector* getRotors() { return &_rotors;}
255 void initRotorIteration(float *lrot,float dt);
256 void getDownWash(float *pos, float * v_heli, float *downwash);
257 int getValueforFGSet(int j,char *b,float *f);
260 }; // namespace yasim