+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
#include "Atmosphere.hpp"
#include "ControlMap.hpp"
#include "Gear.hpp"
#include "Glue.hpp"
#include "RigidBody.hpp"
#include "Surface.hpp"
+#include "Rotorpart.hpp"
#include "Thruster.hpp"
-
+#include "Hitch.hpp"
#include "Airplane.hpp"
namespace yasim {
inline float norm(float f) { return f<1 ? 1/f : f; }
inline float abs(float f) { return f<0 ? -f : f; }
+// Solver threshold. How close to the solution are we trying
+// to get? Trying too hard can result in oscillations about
+// the correct solution, which is bad. Stick this in as a
+// compile time constant for now, and consider making it
+// settable per-model.
+const float STHRESH = 1;
+
+// How slowly do we change values in the solver. Too slow, and
+// the solution converges very slowly. Too fast, and it can
+// oscillate.
+const float SOLVE_TWEAK = 0.3226;
+
Airplane::Airplane()
{
_emptyWeight = 0;
_cruiseT = 0;
_cruiseSpeed = 0;
_cruiseWeight = 0;
+ _cruiseGlideAngle = 0;
_approachP = 0;
_approachT = 0;
_approachSpeed = 0;
_approachAoA = 0;
_approachWeight = 0;
+ _approachGlideAngle = 0;
_dragFactor = 1;
_liftRatio = 1;
_cruiseAoA = 0;
_tailIncidence = 0;
+
+ _failureMsg = 0;
}
Airplane::~Airplane()
delete (Tank*)_tanks.get(i);
for(i=0; i<_thrusters.size(); i++)
delete (ThrustRec*)_thrusters.get(i);
- for(i=0; i<_gears.size(); i++)
- delete (GearRec*)_gears.get(i);
+ for(i=0; i<_gears.size(); i++) {
+ GearRec* g = (GearRec*)_gears.get(i);
+ delete g->gear;
+ delete g;
+ }
for(i=0; i<_surfs.size(); i++)
delete (Surface*)_surfs.get(i);
- for(i=0; i<_contacts.size(); i++)
- delete[] (float*)_contacts.get(i);
+ for(i=0; i<_contacts.size(); i++) {
+ ContactRec* c = (ContactRec*)_contacts.get(i);
+ delete c->gear;
+ delete c;
+ }
+ for(i=0; i<_solveWeights.size(); i++)
+ delete (SolveWeight*)_solveWeights.get(i);
+ for(i=0; i<_cruiseControls.size(); i++)
+ delete (Control*)_cruiseControls.get(i);
+ for(i=0; i<_approachControls.size(); i++) {
+ Control* c = (Control*)_approachControls.get(i);
+ if(c != &_approachElevator)
+ delete c;
+ }
+ delete _wing;
+ delete _tail;
+ for(i=0; i<_vstabs.size(); i++)
+ delete (Wing*)_vstabs.get(i);
+ for(i=0; i<_weights.size(); i++)
+ delete (WeightRec*)_weights.get(i);
}
void Airplane::iterate(float dt)
updateGearState();
_model.iterate();
+}
- // FIXME: Consume fuel
+void Airplane::calcFuelWeights()
+{
+ for(int i=0; i<_tanks.size(); i++) {
+ Tank* t = (Tank*)_tanks.get(i);
+ _model.getBody()->setMass(t->handle, t->fill);
+ }
}
ControlMap* Airplane::getControlMap()
// Gravity
Glue::geodUp(s->pos, out);
Math::mul3(-9.8f, out, out);
+ Math::vmul33(s->orient, out, out);
+ out[0] = -out[0];
// The regular acceleration
float tmp[3];
- Math::mul3(-1, s->acc, tmp);
- Math::add3(tmp, out, out);
-
// Convert to aircraft coordinates
- Math::vmul33(s->orient, out, out);
+ Math::vmul33(s->orient, s->acc, tmp);
+ tmp[1] = -tmp[1];
+ tmp[2] = -tmp[2];
+
+ Math::add3(tmp, out, out);
// FIXME: rotational & centripetal acceleration needed
}
return ((GearRec*)_gears.get(g))->gear;
}
+Hook* Airplane::getHook()
+{
+ return _model.getHook();
+}
+
+Launchbar* Airplane::getLaunchbar()
+{
+ return _model.getLaunchbar();
+}
+
+Rotorgear* Airplane::getRotorgear()
+{
+ return _model.getRotorgear();
+}
+
void Airplane::updateGearState()
{
for(int i=0; i<_gears.size(); i++) {
}
}
-void Airplane::setApproach(float speed, float altitude)
-{
- // The zero AoA will become a calculated stall AoA in compile()
- setApproach(speed, altitude, 0);
-}
-
-void Airplane::setApproach(float speed, float altitude, float aoa)
+void Airplane::setApproach(float speed, float altitude, float aoa, float fuel, float gla)
{
_approachSpeed = speed;
_approachP = Atmosphere::getStdPressure(altitude);
_approachT = Atmosphere::getStdTemperature(altitude);
_approachAoA = aoa;
+ _approachFuel = fuel;
+ _approachGlideAngle = gla;
}
-void Airplane::setCruise(float speed, float altitude)
+void Airplane::setCruise(float speed, float altitude, float fuel, float gla)
{
_cruiseSpeed = speed;
_cruiseP = Atmosphere::getStdPressure(altitude);
_cruiseT = Atmosphere::getStdTemperature(altitude);
_cruiseAoA = 0;
_tailIncidence = 0;
+ _cruiseFuel = fuel;
+ _cruiseGlideAngle = gla;
}
void Airplane::setElevatorControl(int control)
_cruiseControls.add(c);
}
+void Airplane::addSolutionWeight(bool approach, int idx, float wgt)
+{
+ SolveWeight* w = new SolveWeight();
+ w->approach = approach;
+ w->idx = idx;
+ w->wgt = wgt;
+ _solveWeights.add(w);
+}
+
int Airplane::numTanks()
{
return _tanks.size();
return ((Tank*)_tanks.get(tank))->fill;
}
+float Airplane::setFuel(int tank, float fuel)
+{
+ return ((Tank*)_tanks.get(tank))->fill = fuel;
+}
+
float Airplane::getFuelDensity(int tank)
{
return ((Tank*)_tanks.get(tank))->density;
}
+float Airplane::getTankCapacity(int tank)
+{
+ return ((Tank*)_tanks.get(tank))->cap;
+}
+
void Airplane::setWeight(float weight)
{
_emptyWeight = weight;
}
void Airplane::addFuselage(float* front, float* back, float width,
- float taper, float mid)
+ float taper, float mid,
+ float cx, float cy, float cz, float idrag)
{
Fuselage* f = new Fuselage();
int i;
f->width = width;
f->taper = taper;
f->mid = mid;
+ f->_cx=cx;
+ f->_cy=cy;
+ f->_cz=cz;
+ f->_idrag=idrag;
_fuselages.add(f);
}
_gears.add(g);
}
+void Airplane::addHook(Hook* hook)
+{
+ _model.addHook(hook);
+}
+
+void Airplane::addHitch(Hitch* hitch)
+{
+ _model.addHitch(hitch);
+}
+
+void Airplane::addLaunchbar(Launchbar* launchbar)
+{
+ _model.addLaunchbar(launchbar);
+}
+
void Airplane::addThruster(Thruster* thruster, float mass, float* cg)
{
ThrustRec* t = new ThrustRec();
int i;
for(i=0; i<_tanks.size(); i++) {
Tank* t = (Tank*)_tanks.get(i);
+ t->fill = frac * t->cap;
_model.getBody()->setMass(t->handle, t->cap * frac);
}
}
return _tailIncidence;
}
-char* Airplane::getFailureMsg()
+const char* Airplane::getFailureMsg()
{
return _failureMsg;
}
return _solutionIterations;
}
-void Airplane::setupState(float aoa, float speed, State* s)
+void Airplane::setupState(float aoa, float speed, float gla, State* s)
{
float cosAoA = Math::cos(aoa);
float sinAoA = Math::sin(aoa);
s->orient[3] = 0; s->orient[4] = 1; s->orient[5] = 0;
s->orient[6] = -sinAoA; s->orient[7] = 0; s->orient[8] = cosAoA;
- s->v[0] = speed; s->v[1] = 0; s->v[2] = 0;
+ s->v[0] = speed*Math::cos(gla); s->v[1] = -speed*Math::sin(gla); s->v[2] = 0;
int i;
for(i=0; i<3; i++)
void Airplane::addContactPoint(float* pos)
{
- float* cp = new float[3];
- cp[0] = pos[0];
- cp[1] = pos[1];
- cp[2] = pos[2];
- _contacts.add(cp);
+ ContactRec* c = new ContactRec;
+ c->gear = 0;
+ c->p[0] = pos[0];
+ c->p[1] = pos[1];
+ c->p[2] = pos[2];
+ _contacts.add(c);
}
float Airplane::compileWing(Wing* w)
return wgt;
}
+void Airplane::compileRotorgear()
+{
+ getRotorgear()->compile();
+}
+
float Airplane::compileFuselage(Fuselage* f)
{
// The front and back are contact points
float fwd[3];
Math::sub3(f->front, f->back, fwd);
float len = Math::mag3(fwd);
+ if (len == 0) {
+ _failureMsg = "Zero length fuselage";
+ return 0;
+ }
float wid = f->width;
int segs = (int)Math::ceil(len/wid);
float segWgt = len*wid/segs;
Surface* s = new Surface();
s->setPosition(pos);
float sideDrag = len/wid;
- s->setYDrag(sideDrag);
- s->setZDrag(sideDrag);
- s->setTotalDrag(scale*segWgt);
+ s->setYDrag(sideDrag*f->_cy);
+ s->setZDrag(sideDrag*f->_cz);
+ s->setTotalDrag(scale*segWgt*f->_cx);
+ s->setInducedDrag(f->_idrag);
// FIXME: fails for fuselages aligned along the Y axis
float o[9];
int i;
for(i=0; i<_contacts.size(); i++) {
- float *cp = (float*)_contacts.get(i);
+ ContactRec* c = (ContactRec*)_contacts.get(i);
Gear* g = new Gear();
- g->setPosition(cp);
+ c->gear = g;
+ g->setPosition(c->p);
g->setCompression(comp);
g->setSpring(spring);
// I made these up
g->setStaticFriction(0.6f);
g->setDynamicFriction(0.5f);
+ g->setContactPoint(1);
_model.addGear(g);
}
void Airplane::compile()
{
- double ground[3];
- ground[0] = 0; ground[1] = 0; ground[2] = 1;
- _model.setGroundPlane(ground, -100000);
-
RigidBody* body = _model.getBody();
int firstMass = body->numMasses();
float aeroWgt = 0;
// The Wing objects
- aeroWgt += compileWing(_wing);
- aeroWgt += compileWing(_tail);
+ if (_wing)
+ aeroWgt += compileWing(_wing);
+ if (_tail)
+ aeroWgt += compileWing(_tail);
int i;
- for(i=0; i<_vstabs.size(); i++) {
+ for(i=0; i<_vstabs.size(); i++)
aeroWgt += compileWing((Wing*)_vstabs.get(i));
- }
-
+
+
// The fuselage(s)
- for(i=0; i<_fuselages.size(); i++) {
+ for(i=0; i<_fuselages.size(); i++)
aeroWgt += compileFuselage((Fuselage*)_fuselages.get(i));
- }
// Count up the absolute weight we have
float nonAeroWgt = _ballast;
t->handle = body->addMass(0, t->pos);
totalFuel += t->cap;
}
- _cruiseWeight = _emptyWeight + totalFuel*0.5f;
- _approachWeight = _emptyWeight + totalFuel*0.2f;
+ _cruiseWeight = _emptyWeight + totalFuel*_cruiseFuel;
+ _approachWeight = _emptyWeight + totalFuel*_approachFuel;
body->recalc();
}
// Ground effect
- float gepos[3];
- float gespan = _wing->getGroundEffect(gepos);
- _model.setGroundEffect(gepos, gespan, 0.3f);
+ if(_wing) {
+ float gepos[3];
+ float gespan = 0;
+ gespan = _wing->getGroundEffect(gepos);
+ _model.setGroundEffect(gepos, gespan, 0.15f);
+ }
+
+ // solve function below resets failure message
+ // so check if we have any problems and abort here
+ if (_failureMsg) return;
solveGear();
- solve();
+ if(_wing && _tail) solve();
+ else
+ {
+ // The rotor(s) mass:
+ compileRotorgear();
+ solveHelicopter();
+ }
// Do this after solveGear, because it creates "gear" objects that
// we don't want to affect.
g->getPosition(pos);
Math::sub3(cg, pos, pos);
gr->wgt = 1.0f/(0.5f+Math::sqrt(pos[0]*pos[0] + pos[1]*pos[1]));
- total += gr->wgt;
+ if (!g->getIgnoreWhileSolving())
+ total += gr->wgt;
}
// Renormalize so they sum to 1
((GearRec*)_gears.get(i))->wgt /= total;
// The force at max compression should be sufficient to stop a
- // plane moving downwards at 3x the approach descent rate. Assume
+ // plane moving downwards at 2x the approach descent rate. Assume
// a 3 degree approach.
- float descentRate = 3.0f*_approachSpeed/19.1f;
+ float descentRate = 2.0f*_approachSpeed/19.1f;
// Spread the kinetic energy according to the gear weights. This
// will results in an equal compression fraction (not distance) of
float e = energy * gr->wgt;
float comp[3];
gr->gear->getCompression(comp);
- float len = Math::mag3(comp);
+ float len = Math::mag3(comp)*(1+2*gr->gear->getInitialLoad());
// Energy in a spring: e = 0.5 * k * len^2
float k = 2 * e / (len*len);
- gr->gear->setSpring(k);
+ gr->gear->setSpring(k * gr->gear->getSpring());
// Critically damped (too damped, too!)
- gr->gear->setDamping(2*Math::sqrt(k*_approachWeight*gr->wgt));
-
- // These are pretty generic
- gr->gear->setStaticFriction(0.8f);
- gr->gear->setDynamicFriction(0.7f);
+ gr->gear->setDamping(2*Math::sqrt(k*_approachWeight*gr->wgt)
+ * gr->gear->getDamping());
}
}
_model.getThruster(i)->stabilize();
}
+void Airplane::setupWeights(bool isApproach)
+{
+ int i;
+ for(i=0; i<_weights.size(); i++)
+ setWeight(i, 0);
+ for(i=0; i<_solveWeights.size(); i++) {
+ SolveWeight* w = (SolveWeight*)_solveWeights.get(i);
+ if(w->approach == isApproach)
+ setWeight(w->idx, w->wgt);
+ }
+}
+
void Airplane::runCruise()
{
- setupState(_cruiseAoA, _cruiseSpeed, &_cruiseState);
+ setupState(_cruiseAoA, _cruiseSpeed,_cruiseGlideAngle, &_cruiseState);
_model.setState(&_cruiseState);
_model.setAir(_cruiseP, _cruiseT,
Atmosphere::calcStdDensity(_cruiseP, _cruiseT));
Math::mul3(-1, _cruiseState.v, wind);
Math::vmul33(_cruiseState.orient, wind, wind);
- // Cruise is by convention at 50% tank capacity
- setFuelFraction(0.5);
+ setFuelFraction(_cruiseFuel);
+ setupWeights(false);
// Set up the thruster parameters and iterate until the thrust
// stabilizes.
void Airplane::runApproach()
{
- setupState(_approachAoA, _approachSpeed, &_approachState);
+ setupState(_approachAoA, _approachSpeed,_approachGlideAngle, &_approachState);
_model.setState(&_approachState);
_model.setAir(_approachP, _approachT,
Atmosphere::calcStdDensity(_approachP, _approachT));
Math::mul3(-1, _approachState.v, wind);
Math::vmul33(_approachState.orient, wind, wind);
- // Approach is by convention at 20% tank capacity
- setFuelFraction(0.2f);
+ setFuelFraction(_approachFuel);
+
+ setupWeights(true);
// Run the thrusters until they get to a stable setting. FIXME:
// this is lots of wasted work.
void Airplane::applyDragFactor(float factor)
{
- float applied = Math::sqrt(factor);
+ float applied = Math::pow(factor, SOLVE_TWEAK);
_dragFactor *= applied;
- _wing->setDragScale(_wing->getDragScale() * applied);
- _tail->setDragScale(_tail->getDragScale() * applied);
+ if(_wing)
+ _wing->setDragScale(_wing->getDragScale() * applied);
+ if(_tail)
+ _tail->setDragScale(_tail->getDragScale() * applied);
int i;
for(i=0; i<_vstabs.size(); i++) {
Wing* w = (Wing*)_vstabs.get(i);
void Airplane::applyLiftRatio(float factor)
{
- float applied = Math::sqrt(factor);
+ float applied = Math::pow(factor, SOLVE_TWEAK);
_liftRatio *= applied;
- _wing->setLiftRatio(_wing->getLiftRatio() * applied);
- _tail->setLiftRatio(_tail->getLiftRatio() * applied);
+ if(_wing)
+ _wing->setLiftRatio(_wing->getLiftRatio() * applied);
+ if(_tail)
+ _tail->setLiftRatio(_tail->getLiftRatio() * applied);
int i;
for(i=0; i<_vstabs.size(); i++) {
Wing* w = (Wing*)_vstabs.get(i);
float tmp[3];
_solutionIterations = 0;
_failureMsg = 0;
- while(1) {
-#if 0
- printf("%d %f %f %f %f %f\n", //DEBUG
- _solutionIterations,
- 1000*_dragFactor,
- _liftRatio,
- _cruiseAoA,
- _tailIncidence,
- _approachElevator.val);
-#endif
- if(_solutionIterations++ > 10000) {
+ while(1) {
+ if(_solutionIterations++ > 10000) {
_failureMsg = "Solution failed to converge after 10000 iterations";
- return;
+ return;
}
// Run an iteration at cruise, and extract the needed numbers:
runCruise();
_model.getThrust(tmp);
- float thrust = tmp[0];
+ float thrust = tmp[0] + _cruiseWeight * Math::sin(_cruiseGlideAngle) * 9.81;
_model.getBody()->getAccel(tmp);
Math::tmul33(_cruiseState.orient, tmp, tmp);
applyLiftRatio(liftFactor);
// DON'T do the following until the above are sane
- if(normFactor(dragFactor) > 1.0001
- || normFactor(liftFactor) > 1.0001)
+ if(normFactor(dragFactor) > STHRESH*1.0001
+ || normFactor(liftFactor) > STHRESH*1.0001)
{
continue;
}
// OK, now we can adjust the minor variables:
- _cruiseAoA += 0.5f*aoaDelta;
- _tailIncidence += 0.5f*tailDelta;
+ _cruiseAoA += SOLVE_TWEAK*aoaDelta;
+ _tailIncidence += SOLVE_TWEAK*tailDelta;
_cruiseAoA = clamp(_cruiseAoA, -0.175f, 0.175f);
_tailIncidence = clamp(_tailIncidence, -0.175f, 0.175f);
- if(abs(xforce/_cruiseWeight) < 0.0001 &&
- abs(alift/_approachWeight) < 0.0001 &&
- abs(aoaDelta) < .000017 &&
- abs(tailDelta) < .000017)
+ if(abs(xforce/_cruiseWeight) < STHRESH*0.0001 &&
+ abs(alift/_approachWeight) < STHRESH*0.0001 &&
+ abs(aoaDelta) < STHRESH*.000017 &&
+ abs(tailDelta) < STHRESH*.000017)
{
// If this finaly value is OK, then we're all done
- if(abs(elevDelta) < 0.0001)
+ if(abs(elevDelta) < STHRESH*0.0001)
break;
// Otherwise, adjust and do the next iteration
- _approachElevator.val += 0.8 * elevDelta;
+ _approachElevator.val += SOLVE_TWEAK * elevDelta;
if(abs(_approachElevator.val) > 1) {
_failureMsg = "Insufficient elevator to trim for approach";
break;
return;
}
}
+
+void Airplane::solveHelicopter()
+{
+ _solutionIterations = 0;
+ _failureMsg = 0;
+ if (getRotorgear()!=0)
+ {
+ Rotorgear* rg = getRotorgear();
+ applyDragFactor(Math::pow(rg->getYasimDragFactor()/1000,
+ 1/SOLVE_TWEAK));
+ applyLiftRatio(Math::pow(rg->getYasimLiftFactor(),
+ 1/SOLVE_TWEAK));
+ }
+ else
+ //huh, no wing and no rotor? (_rotorgear is constructed,
+ //if a rotor is defined
+ {
+ applyDragFactor(Math::pow(15.7/1000, 1/SOLVE_TWEAK));
+ applyLiftRatio(Math::pow(104, 1/SOLVE_TWEAK));
+ }
+ setupState(0,0,0, &_cruiseState);
+ _model.setState(&_cruiseState);
+ setupWeights(true);
+ _controls.reset();
+ _model.getBody()->reset();
+ _model.setAir(_cruiseP, _cruiseT,
+ Atmosphere::calcStdDensity(_cruiseP, _cruiseT));
+
+}
+
}; // namespace yasim
projects / flightgear.git / blobdiff