INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include <FGJSBBase.h>
-#include <FGFDMExec.h>
-#include <input_output/FGXMLElement.h>
-#include <math/FGColumnVector3.h>
-#include <math/FGTable.h>
+#include "models/propulsion/FGForce.h"
+#include "models/FGPropagate.h"
+#include "math/FGColumnVector3.h"
#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_LGEAR "$Id$"
+#define ID_LGEAR "$Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
class FGAircraft;
class FGPropagate;
class FGFCS;
-class FGState;
class FGMassBalance;
class FGAuxiliary;
+class FGTable;
+class Element;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
<h3>Operational Properties</h3>
<ol>
<li>Name</li>
- <li>Steerability attribute {one of STEERABLE | FIXED | CASTERED}</li>
<li>Brake Group Membership {one of LEFT | CENTER | RIGHT | NOSE | TAIL | NONE}</li>
<li>Max Steer Angle, in degrees</li>
</ol></p>
<y> {number} </y>
<z> {number} </z>
</location>
+ <orientation unit="{RAD | DEG}">
+ <pitch> {number} </pitch>
+ <roll> {number} </roll>
+ <yaw> {number} </yaw>
+ </orientation>
<static_friction> {number} </static_friction>
<dynamic_friction> {number} </dynamic_friction>
<rolling_friction> {number} </rolling_friction>
<spring_coeff unit="{LBS/FT | N/M}"> {number} </spring_coeff>
- <damping_coeff unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff>
- <damping_coeff_rebound unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff_rebound>
+ <damping_coeff [type="SQUARE"] unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff>
+ <damping_coeff_rebound [type="SQUARE"] unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff_rebound>
<max_steer unit="DEG"> {number | 0 | 360} </max_steer>
<brake_group> {NONE | LEFT | RIGHT | CENTER | NOSE | TAIL} </brake_group>
<retractable>{0 | 1}</retractable>
<table type="{CORNERING_COEFF}">
</table>
- <relaxation_velocity>
- <rolling unit="{FT/SEC | KTS | M/S}"> {number} </rolling>
- <side unit="{FT/SEC | KTS | M/S}"> {number} </side>
- </relaxation_velocity>
- <force_lag_filter>
- <rolling> {number} </rolling>
- <side> {number} </side>
- </force_lag_filter>
- <wheel_slip_filter> {number} </wheel_slip_filter>
</contact>
@endcode
@author Jon S. Berndt
- @version $Id$
+ @version $Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $
@see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
NASA-Ames", NASA CR-2497, January 1975
@see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGLGear : public FGJSBBase
+class FGLGear : public FGForce
{
public:
/// Brake grouping enumerators
/// Steering group membership enumerators
enum SteerType {stSteer, stFixed, stCaster};
/// Contact point type
- enum ContactType {ctBOGEY, ctSTRUCTURE, ctUNKNOWN};
+ enum ContactType {ctBOGEY, ctSTRUCTURE};
/// Report type enumerators
enum ReportType {erNone=0, erTakeoff, erLand};
/// Damping types
enum DampType {dtLinear=0, dtSquare};
+ /// Friction types
+ enum FrictionType {ftRoll=0, ftSide, ftDynamic};
/** Constructor
@param el a pointer to the XML element that contains the CONTACT info.
@param Executive a pointer to the parent executive object
~FGLGear();
/// The Force vector for this gear
- FGColumnVector3& Force(void);
- /// The Moment vector for this gear
- FGColumnVector3& Moment(void) {return vMoment;}
+ FGColumnVector3& GetBodyForces(void);
/// Gets the location of the gear in Body axes
FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
int GetSteerType(void) const { return (int)eSteerType; }
- double GetZPosition(void) const { return vXYZ(3); }
- void SetZPosition(double z) { vXYZ(3) = z; }
-
- bool GetSteerable(void) const { return eSteerType != stFixed; }
+ bool GetSteerable(void) const { return eSteerType != stFixed; }
bool GetRetractable(void) const { return isRetractable; }
bool GetGearUnitUp(void) const { return GearUp; }
bool GetGearUnitDown(void) const { return GearDown; }
- double GetWheelSideForce(void) const { return vLocalForce(eY); }
- double GetWheelRollForce(void) const { return vLocalForce(eX); }
- double GetWheelSideVel(void) const { return vWhlVelVec(eY); }
- double GetWheelRollVel(void) const { return vWhlVelVec(eX); }
- double GetBodyXForce(void) const { return vForce(eX); }
- double GetBodyYForce(void) const { return vForce(eY); }
+ double GetWheelRollForce(void) {
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eX)*cos(SteerAngle) + vForce(eY)*sin(SteerAngle); }
+ double GetWheelSideForce(void) {
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eY)*cos(SteerAngle) - vForce(eX)*sin(SteerAngle); }
+ double GetWheelRollVel(void) const { return vWhlVelVec(eX)*cos(SteerAngle)
+ + vWhlVelVec(eY)*sin(SteerAngle); }
+ double GetWheelSideVel(void) const { return vWhlVelVec(eY)*cos(SteerAngle)
+ - vWhlVelVec(eX)*sin(SteerAngle); }
double GetWheelSlipAngle(void) const { return WheelSlip; }
- double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
- bool IsBogey(void) const { return (eContactType == ctBOGEY);}
+ double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
+ bool IsBogey(void) const { return (eContactType == ctBOGEY);}
double GetGearUnitPos(void);
+ double GetSteerAngleDeg(void) const { return radtodeg*SteerAngle; }
+ FGPropagate::LagrangeMultiplier* GetMultiplierEntry(int entry);
+ void SetLagrangeMultiplier(double lambda, int entry);
+ FGColumnVector3& UpdateForces(void);
void bind(void);
private:
int GearNumber;
- FGMatrix33 Tg2b, Tb2g;
- FGColumnVector3 vXYZ;
- FGColumnVector3 vMoment;
+ static const FGMatrix33 Tb2s;
+ FGMatrix33 mTGear;
+ FGColumnVector3 vGearOrient;
FGColumnVector3 vWhlBodyVec;
FGColumnVector3 vLocalGear;
- FGColumnVector3 vForce;
- FGColumnVector3 vLocalForce;
FGColumnVector3 vWhlVelVec, vLocalWhlVel; // Velocity of this wheel
FGColumnVector3 normal, cvel, vGroundNormal;
FGLocation contact, gearLoc;
bool isRetractable;
bool GearUp, GearDown;
bool Servicable;
- string name;
- string sSteerType;
- string sBrakeGroup;
- string sRetractable;
- string sContactType;
+ bool Castered;
+ bool StaticFriction;
+ std::string name;
+ std::string sSteerType;
+ std::string sBrakeGroup;
+ std::string sRetractable;
+ std::string sContactType;
BrakeGroup eBrakeGrp;
ContactType eContactType;
DampType eDampType;
DampType eDampTypeRebound;
double maxSteerAngle;
- double RFRV; // Rolling force relaxation velocity
- double SFRV; // Side force relaxation velocity
- double LongForceLagFilterCoeff; // Longitudinal Force Lag Filter Coefficient
- double LatForceLagFilterCoeff; // Lateral Force Lag Filter Coefficient
- double WheelSlipLagFilterCoeff; // Wheel slip angle lag filter coefficient
-
- Filter LongForceFilter;
- Filter LatForceFilter;
- Filter WheelSlipFilter;
-
- FGFDMExec* Exec;
- FGState* State;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGFCS* FCS;
- FGMassBalance* MassBalance;
+
+ FGPropagate::LagrangeMultiplier LMultiplier[3];
+
+ FGAuxiliary* Auxiliary;
+ FGPropagate* Propagate;
+ FGFCS* FCS;
+ FGMassBalance* MassBalance;
+ FGGroundReactions* GroundReactions;
void ComputeRetractionState(void);
void ComputeBrakeForceCoefficient(void);
void ComputeSideForceCoefficient(void);
void ComputeVerticalStrutForce(void);
void ComputeGroundCoordSys(void);
+ void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
void CrashDetect(void);
void InitializeReporting(void);
void ResetReporting(void);
void Debug(int from);
};
}
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGAuxiliary.h"
-#include "FGFCS.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
projects / flightgear.git / blobdiff