Make yasim accept the launchbar and hook properties. They are not tied to anything...

[flightgear.git] / src / FDM / JSBSim / FGLGear.cpp

diff --git a/src/FDM/JSBSim/FGLGear.cpp b/src/FDM/JSBSim/FGLGear.cpp
index 6c9d6b209c32aedde3f38a109b0c86c7882a14dc..22836a86ddbc978ebebd0599080fada2de1fdc1f 100644 (file)
--- a/src/FDM/JSBSim/FGLGear.cpp
+++ b/src/FDM/JSBSim/FGLGear.cpp
@@ -57,10 +57,12 @@ static const char *IdHdr = ID_LGEAR;
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
+FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex, int number) : Exec(fdmex)
 {
   string tmp;
 
+  GearNumber = number;
+
   *AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
             >> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
                   >> rollingFCoeff >> sSteerType >> sBrakeGroup
@@ -140,6 +142,8 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
 
 FGLGear::FGLGear(const FGLGear& lgear)
 {
+  GearNumber = lgear.GearNumber;
+
   State    = lgear.State;
   Aircraft = lgear.Aircraft;
   Propagate = lgear.Propagate;
@@ -207,7 +211,6 @@ FGLGear::~FGLGear()
 FGColumnVector3& FGLGear::Force(void)
 {
   double SinWheel, CosWheel;
-  double deltaSlip;
   double deltaT = State->Getdt()*Aircraft->GetRate();
 
   vForce.InitMatrix();
@@ -229,6 +232,24 @@ FGColumnVector3& FGLGear::Force(void)
       GearDown = true;
   }
 
+  // Compute the steering angle in any case.
+  // Will make shure that animations will look right.
+  switch (eSteerType) {
+  case stSteer:
+    SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
+    break;
+  case stFixed:
+    SteerAngle = 0.0;
+    break;
+  case stCaster:
+    // Note to Jon: This is not correct for castering gear.  I'll fix it later.
+    SteerAngle = 0.0;
+    break;
+  default:
+    cerr << "Improper steering type membership detected for this gear." << endl;
+    break;
+  }
+
   if (GearDown) {
 
     vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
@@ -323,28 +344,12 @@ FGColumnVector3& FGLGear::Force(void)
         break;
       }
 
-      switch (eSteerType) {
-      case stSteer:
-        SteerAngle = -maxSteerAngle * FCS->GetDrCmd() * 0.01745;
-        break;
-      case stFixed:
-        SteerAngle = 0.0;
-        break;
-      case stCaster:
-// Note to Jon: This is not correct for castering gear.  I'll fix it later.
-        SteerAngle = 0.0;
-        break;
-      default:
-        cerr << "Improper steering type membership detected for this gear." << endl;
-        break;
-      }
-
 // Transform the wheel velocities from the local axis system to the wheel axis system.
 // For now, steering angle is assumed to happen in the Local Z axis,
 // not the strut axis as it should be.  Will fix this later.
 
-      SinWheel      = sin(Propagate->Getpsi() + SteerAngle);
-      CosWheel      = cos(Propagate->Getpsi() + SteerAngle);
+      SinWheel      = sin(Propagate->GetEuler(ePsi) + SteerAngle);
+      CosWheel      = cos(Propagate->GetEuler(ePsi) + SteerAngle);
       RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
       SideWhlVel    = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
 
@@ -447,6 +452,9 @@ FGColumnVector3& FGLGear::Force(void)
 
       WOW = false;
 
+      // Return to neutral position between 1.0 and 0.8 gear pos.
+      SteerAngle *= max(FCS->GetGearPos()-0.8, 0.0)/0.2;
+
       if (Propagate->GetDistanceAGL() > 200.0) {
         FirstContact = false;
         StartedGroundRun = false;