You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
- USA or view http://www.gnu.org/copyleft/gpl.html.
+ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
**********************************************************************/
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/compiler.h>
+#include <simgear/misc/sg_path.hxx>
+#include <Aircraft/aircraft.hxx>
+#include <Main/fg_props.hxx>
#include "uiuc_gear.h"
-SG_USING_STD(cerr);
-
-
#define HEIGHT_AGL_WHEEL d_wheel_rwy_local_v[2]
for (i=0;i<MAX_GEAR;i++) /* Loop for each wheel */
{
- // Execute only if the gear has been defined
- if (!gear_model[i])
- continue;
-
- /* printf("%s:\n",gear_strings[i]); */
-
-
-
- /*========================================*/
- /* Calculate wheel position w.r.t. runway */
- /*========================================*/
-
-
- /* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
-
-
- /* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
-
- sub3( D_gear_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
-
- /* then converting to local (North-East-Down) axes... */
-
- multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
-
-
- /* Runway axes correction - third element is Altitude, not (-)Z... */
-
- d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
-
- /* Add wheel offset to cg location in local axes */
-
- add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
-
- /* remove Runway axes correction so right hand rule applies */
-
- d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
-
- /*============================*/
- /* Calculate wheel velocities */
- /*============================*/
-
- /* contribution due to angular rates */
-
- cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
-
- /* transform into local axes */
-
- multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
-
- /* plus contribution due to cg velocities */
-
- add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
-
- clear3(f_wheel_local_v);
- reaction_normal_force=0;
- if( HEIGHT_AGL_WHEEL < 0. )
- /*the wheel is underground -- which implies ground contact
- so calculate reaction forces */
+ // Execute only if the gear has been defined
+ if (!gear_model[i])
+ {
+ // do nothing
+ continue;
+ }
+ else
{
- /*===========================================*/
- /* Calculate forces & moments for this wheel */
- /*===========================================*/
- /* Add any anticipation, or frame lead/prediction, here... */
+ /*========================================*/
+ /* Calculate wheel position w.r.t. runway */
+ /*========================================*/
- /* no lead used at present */
+ /* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
- /* Calculate sideward and forward velocities of the wheel
- in the runway plane */
+ /* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
- cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
- sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
+ sub3( D_gear_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
- v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
- + v_wheel_local_v[1]*sin_wheel_hdg_angle;
- v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
- - v_wheel_local_v[0]*sin_wheel_hdg_angle;
+ /* then converting to local (North-East-Down) axes... */
+ multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
- /* Calculate normal load force (simple spring constant) */
- reaction_normal_force = 0.;
+ /* Runway axes correction - third element is Altitude, not (-)Z... */
- reaction_normal_force = kgear[i]*d_wheel_rwy_local_v[2]
- - v_wheel_local_v[2]*cgear[i];
- /* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
+ d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
- if (reaction_normal_force > 0.) reaction_normal_force = 0.;
- /* to prevent damping component from swamping spring component */
+ /* Add wheel offset to cg location in local axes */
+ add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
- /* Calculate friction coefficients */
+ /* remove Runway axes correction so right hand rule applies */
- if(it_rolls[i])
- {
- forward_mu = (max_brake_mu[i] - muGear[i])*percent_brake[i] + muGear[i];
- abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
- sideward_mu = sliding_mu[i];
- if (abs_v_wheel_sideward < skid_v)
- sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
- if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
- }
- else
- {
- forward_mu=sliding_mu[i];
- sideward_mu=sliding_mu[i];
- }
+ d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
- /* Calculate foreward and sideward reaction forces */
+ /*============================*/
+ /* Calculate wheel velocities */
+ /*============================*/
- forward_wheel_force = forward_mu*reaction_normal_force;
- sideward_wheel_force = sideward_mu*reaction_normal_force;
- if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
- if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
- /* printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
- */
- /* Rotate into local (N-E-D) axes */
+ /* contribution due to angular rates */
- f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
- - sideward_wheel_force*sin_wheel_hdg_angle;
- f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
- + sideward_wheel_force*cos_wheel_hdg_angle;
- f_wheel_local_v[2] = reaction_normal_force;
+ cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
- /* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
- mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
+ /* transform into local axes */
- /* Calculate moments from force and offsets in body axes */
+ multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
- cross3( d_wheel_cg_body_v, tempF, tempM );
-
- /* Sum forces and moments across all wheels */
-
- add3( tempF, F_gear_v, F_gear_v );
- add3( tempM, M_gear_v, M_gear_v );
+ /* plus contribution due to cg velocities */
+ add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
+ clear3(f_wheel_local_v);
+ reaction_normal_force=0;
+ static const SGPropertyNode * gear_wow
+ = fgGetNode("/gear/gear[0]/wow", false);
+ static const SGPropertyNode * gear_wow1
+ = fgGetNode("/gear/gear[1]/wow", false);
+ static const SGPropertyNode * gear_wow2
+ = fgGetNode("/gear/gear[2]/wow", false);
+ fgSetBool("/gear/gear[0]/wow", false);
+ fgSetBool("/gear/gear[1]/wow", false);
+ fgSetBool("/gear/gear[2]/wow", false);
+ if( HEIGHT_AGL_WHEEL < 0. )
+ /*the wheel is underground -- which implies ground contact
+ so calculate reaction forces */
+ {
+ //set the property - weight on wheels
+ // if (i==0)
+ // {
+ // fgSetBool("/gear/gear[0]/wow", true);
+ // }
+ // if (i==1)
+ // {
+ // fgSetBool("/gear/gear[1]/wow", true);
+ // }
+ // if (i==2)
+ // {
+ // fgSetBool("/gear/gear[2]/wow", true);
+ // }
+
+ /*===========================================*/
+ /* Calculate forces & moments for this wheel */
+ /*===========================================*/
+
+ /* Add any anticipation, or frame lead/prediction, here... */
+
+ /* no lead used at present */
+
+ /* Calculate sideward and forward velocities of the wheel
+ in the runway plane */
+
+ cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
+ sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
+
+ v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
+ + v_wheel_local_v[1]*sin_wheel_hdg_angle;
+ v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
+ - v_wheel_local_v[0]*sin_wheel_hdg_angle;
+
+
+ /* Calculate normal load force (simple spring constant) */
+
+ reaction_normal_force = 0.;
+
+ reaction_normal_force = kgear[i]*d_wheel_rwy_local_v[2]
+ - v_wheel_local_v[2]*cgear[i];
+ /* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
+
+ if (reaction_normal_force > 0.) reaction_normal_force = 0.;
+ /* to prevent damping component from swamping spring component */
+
+
+ /* Calculate friction coefficients */
+
+ if(it_rolls[i])
+ {
+ forward_mu = (max_brake_mu[i] - muGear[i])*percent_brake[i] + muGear[i];
+ abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
+ sideward_mu = sliding_mu[i];
+ if (abs_v_wheel_sideward < skid_v)
+ sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
+ if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
+ }
+ else
+ {
+ forward_mu=sliding_mu[i];
+ sideward_mu=sliding_mu[i];
+ }
+
+ /* Calculate foreward and sideward reaction forces */
+
+ forward_wheel_force = forward_mu*reaction_normal_force;
+ sideward_wheel_force = sideward_mu*reaction_normal_force;
+ if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
+ if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
+ /* printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
+ */
+ /* Rotate into local (N-E-D) axes */
+
+ f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
+ - sideward_wheel_force*sin_wheel_hdg_angle;
+ f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
+ + sideward_wheel_force*cos_wheel_hdg_angle;
+ f_wheel_local_v[2] = reaction_normal_force;
+
+ /* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
+ mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
+
+ /* Calculate moments from force and offsets in body axes */
+
+ cross3( d_wheel_cg_body_v, tempF, tempM );
+
+ /* Sum forces and moments across all wheels */
+ if (tempF) {
+ fgSetBool("/gear/gear[1]/wow", true);
+ }
+
+ add3( tempF, F_gear_v, F_gear_v );
+ add3( tempM, M_gear_v, M_gear_v );
+
+ }
}
projects / flightgear.git / blobdiff