CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3),
- vMoment(3),
- vWhlBodyVec(3),
- vForce(3),
- vLocalForce(3),
- vWhlVelVec(3),
- Exec(fdmex)
+FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex)
{
string tmp;
- string Retractable;
*AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
>> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
>> rollingFCoeff >> sSteerType >> sBrakeGroup
- >> maxSteerAngle >> Retractable;
-
- if (debug_lvl > 0) {
- cout << " Name: " << name << endl;
- cout << " Location: " << vXYZ << endl;
- cout << " Spring Constant: " << kSpring << endl;
- cout << " Damping Constant: " << bDamp << endl;
- cout << " Dynamic Friction: " << dynamicFCoeff << endl;
- cout << " Static Friction: " << staticFCoeff << endl;
- cout << " Rolling Friction: " << rollingFCoeff << endl;
- cout << " Steering Type: " << sSteerType << endl;
- cout << " Grouping: " << sBrakeGroup << endl;
- cout << " Max Steer Angle: " << maxSteerAngle << endl;
- cout << " Retractable: " << Retractable << endl;
- }
+ >> maxSteerAngle >> sRetractable;
if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
<< sSteerType << " is undefined." << endl;
}
- if( Retractable == "RETRACT" ) {
- isRetractable=true;
+ if ( sRetractable == "RETRACT" ) {
+ isRetractable = true;
} else {
- isRetractable=false;
+ isRetractable = false;
}
- GearUp=false; GearDown=true;
+ GearUp = false;
+ GearDown = true;
// Add some AI here to determine if gear is located properly according to its
// brake group type ??
vLocalGear = State->GetTb2l() * vWhlBodyVec;
- if (debug_lvl & 2) cout << "Instantiated: FGLGear" << endl;
+ compressLength = 0.0;
+ compressSpeed = 0.0;
+ brakePct = 0.0;
+ maxCompLen = 0.0;
+
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Reported = lgear.Reported;
name = lgear.name;
sSteerType = lgear.sSteerType;
+ sRetractable = lgear.sRetractable;
eSteerType = lgear.eSteerType;
sBrakeGroup = lgear.sBrakeGroup;
eBrakeGrp = lgear.eBrakeGrp;
FGLGear::~FGLGear()
{
- if (debug_lvl & 2) cout << "Destroyed: FGLGear" << endl;
+ Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGColumnVector3& FGLGear::Force(void)
{
+ double SteerGain = 0;
+ double SinWheel, CosWheel;
+
vForce.InitMatrix();
vMoment.InitMatrix();
- if(isRetractable ) {
- if( FCS->GetGearPos() < 0.01 ) {
- GearUp=true;GearDown=false;
- } else if(FCS->GetGearPos() > 0.99) {
- GearDown=true;GearUp=false;
+
+ if (isRetractable) {
+ if (FCS->GetGearPos() < 0.01) {
+ GearUp = true;
+ GearDown = false;
+ } else if (FCS->GetGearPos() > 0.99) {
+ GearDown = true;
+ GearUp = false;
} else {
- GearUp=false; GearDown=false;
+ GearUp = false;
+ GearDown = false;
}
} else {
- GearUp=false; GearDown=true;
+ GearUp = false;
+ GearDown = true;
}
- if( GearDown ) {
- double SteerGain = 0;
- double SinWheel, CosWheel, SideWhlVel, RollingWhlVel;
- double RollingForce, SideForce, FCoeff;
- double WheelSlip;
+ if (GearDown) {
vWhlBodyVec = (vXYZ - MassBalance->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX);
staticFCoeff*FCS->GetBrake(bgCenter);
break;
case bgNose:
- SteerGain = 0.10;
+ SteerGain = -0.50;
BrakeFCoeff = rollingFCoeff;
break;
case bgTail:
WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
}
-// The following code normalizes the wheel velocity vector, reverses it, and zeroes out
-// the z component of the velocity. The question is, should the Z axis velocity be zeroed
-// out first before the normalization takes place or not? Subsequent to that, the Wheel
-// Velocity vector now points as a unit vector backwards and parallel to the wheel
-// velocity vector. It acts AT the wheel.
-
-// Note to Jon: I commented out this line because I wasn't sure we want to do this.
-// vWhlVelVec = -1.0 * vWhlVelVec.Normalize();
-// vWhlVelVec(eZ) = 0.00;
-
// Compute the sideforce coefficients using similar assumptions to LaRCSim for now.
// Allow a maximum of 10 degrees tire slip angle before wheel slides. At that point,
// transition from static to dynamic friction. There are more complicated formulations
// in paper AIAA-2000-4303 - see header prologue comments). We might consider
// allowing for both square and linear damping force calculation. Also need to
// possibly give a "rebound damping factor" that differs from the compression
-// case. NOTE: SQUARE LAW DAMPING NO GOOD!
+// case.
vLocalForce(eZ) = min(-compressLength * kSpring
- compressSpeed * bDamp, (double)0.0);
MaximumStrutForce = MaximumStrutTravel = 0.0;
}
- compressLength = 0.0;// reset compressLength to zero for data output validity
-
-
+ compressLength = 0.0; // reset compressLength to zero for data output validity
}
if (FirstContact) {
vMoment.Magnitude() > 5000000000.0 ||
SinkRate > 1.4666*30)
{
- PutMessage("Crash Detected");
+ PutMessage("Crash Detected: Simulation FREEZE.");
Exec->Freeze();
}
-
-
}
return vForce;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLGear::Debug(void)
+// The bitmasked value choices are as follows:
+// unset: In this case (the default) JSBSim would only print
+// out the normally expected messages, essentially echoing
+// the config files as they are read. If the environment
+// variable is not set, debug_lvl is set to 1 internally
+// 0: This requests JSBSim not to output any messages
+// whatsoever.
+// 1: This value explicity requests the normal JSBSim
+// startup messages
+// 2: This value asks for a message to be printed out when
+// a class is instantiated
+// 4: When this value is set, a message is displayed when a
+// FGModel object executes its Run() method
+// 8: When this value is set, various runtime state variables
+// are printed out periodically
+// 16: When set various parameters are sanity checked and
+// a message is printed out when they go out of bounds
+
+void FGLGear::Debug(int from)
{
- // TODO: Add user code here
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+ cout << " Name: " << name << endl;
+ cout << " Location: " << vXYZ << endl;
+ cout << " Spring Constant: " << kSpring << endl;
+ cout << " Damping Constant: " << bDamp << endl;
+ cout << " Dynamic Friction: " << dynamicFCoeff << endl;
+ cout << " Static Friction: " << staticFCoeff << endl;
+ cout << " Rolling Friction: " << rollingFCoeff << endl;
+ cout << " Steering Type: " << sSteerType << endl;
+ cout << " Grouping: " << sBrakeGroup << endl;
+ cout << " Max Steer Angle: " << maxSteerAngle << endl;
+ cout << " Retractable: " << sRetractable << endl;
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGLGear" << endl;
+ if (from == 1) cout << "Destroyed: FGLGear" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}
projects / flightgear.git / blobdiff