#include "Glue.hpp"
#include "RigidBody.hpp"
#include "Surface.hpp"
+#include "Rotorpart.hpp"
+#include "Rotorblade.hpp"
#include "Thruster.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;
delete (Surface*)_surfs.get(i);
for(i=0; i<_contacts.size(); i++)
delete[] (float*)_contacts.get(i);
+ for(i=0; i<_solveWeights.size(); i++)
+ delete[] (SolveWeight*)_solveWeights.get(i);
}
void Airplane::iterate(float dt)
_model.iterate();
}
-void Airplane::consumeFuel(float dt)
+void Airplane::calcFuelWeights()
{
- // This is a really simple implementation that assumes all engines
- // draw equally from all tanks in proportion to the amount of fuel
- // stored there. Needs to be fixed, but that has to wait for a
- // decision as to what the property interface will look like.
- int i, outOfFuel = 0;
- float fuelFlow = 0, totalFuel = 0.00001; // <-- overflow protection
- for(i=0; i<_thrusters.size(); i++)
- fuelFlow += ((ThrustRec*)_thrusters.get(i))->thruster->getFuelFlow();
- for(i=0; i<_tanks.size(); i++)
- totalFuel += ((Tank*)_tanks.get(i))->fill;
- for(i=0; i<_tanks.size(); i++) {
+ for(int i=0; i<_tanks.size(); i++) {
Tank* t = (Tank*)_tanks.get(i);
- t->fill -= dt * fuelFlow * (t->fill/totalFuel);
- if(t->fill <= 0) {
- t->fill = 0;
- outOfFuel = 1;
- }
+ _model.getBody()->setMass(t->handle, t->fill);
}
- if(outOfFuel)
- for(int i=0; i<_thrusters.size(); i++)
- ((ThrustRec*)_thrusters.get(i))->thruster->setFuelState(false);
}
ControlMap* Airplane::getControlMap()
}
}
-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)
{
_approachSpeed = speed;
_approachP = Atmosphere::getStdPressure(altitude);
_approachT = Atmosphere::getStdTemperature(altitude);
_approachAoA = aoa;
+ _approachFuel = fuel;
}
-void Airplane::setCruise(float speed, float altitude)
+void Airplane::setCruise(float speed, float altitude, float fuel)
{
_cruiseSpeed = speed;
_cruiseP = Atmosphere::getStdPressure(altitude);
_cruiseT = Atmosphere::getStdTemperature(altitude);
_cruiseAoA = 0;
_tailIncidence = 0;
+ _cruiseFuel = fuel;
}
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)
+{
+ ((Tank*)_tanks.get(tank))->fill = fuel;
+}
+
float Airplane::getFuelDensity(int tank)
{
return ((Tank*)_tanks.get(tank))->density;
_vstabs.add(vstab);
}
+void Airplane::addRotor(Rotor* rotor)
+{
+ _rotors.add(rotor);
+}
+
void Airplane::addFuselage(float* front, float* back, float width,
float taper, float mid)
{
return wgt;
}
+float Airplane::compileRotor(Rotor* r)
+{
+ // Todo: add rotor to model!!!
+ // Todo: calc and add mass!!!
+ r->compile();
+ _model.addRotor(r);
+
+ float wgt = 0;
+ int i;
+ for(i=0; i<r->numRotorparts(); i++) {
+ Rotorpart* s = (Rotorpart*)r->getRotorpart(i);
+
+ _model.addRotorpart(s);
+
+ float mass = s->getWeight();
+ mass = mass * Math::sqrt(mass);
+ float pos[3];
+ s->getPosition(pos);
+ _model.getBody()->addMass(mass, pos);
+ wgt += mass;
+ }
+
+ for(i=0; i<r->numRotorblades(); i++) {
+ Rotorblade* b = (Rotorblade*)r->getRotorblade(i);
+
+ _model.addRotorblade(b);
+
+ float mass = b->getWeight();
+ mass = mass * Math::sqrt(mass);
+ float pos[3];
+ b->getPosition(pos);
+ _model.getBody()->addMass(mass, pos);
+ wgt += mass;
+ }
+ return wgt;
+}
+
float Airplane::compileFuselage(Fuselage* f)
{
// The front and back are contact points
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));
- }
+ for(i=0; i<_rotors.size(); i++)
+ aeroWgt += compileRotor((Rotor*)_rotors.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;
// Ground effect
float gepos[3];
- float gespan = _wing->getGroundEffect(gepos);
+ float gespan = 0;
+ if(_wing)
+ gespan = _wing->getGroundEffect(gepos);
_model.setGroundEffect(gepos, gespan, 0.15f);
solveGear();
- solve();
+ if(_wing && _tail) solve();
+ else solveHelicopter();
// Do this after solveGear, because it creates "gear" objects that
// we don't want to affect.
_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);
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.
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) {
+ if(_solutionIterations++ > 10000) {
_failureMsg = "Solution failed to converge after 10000 iterations";
- return;
+ return;
}
// Run an iteration at cruise, and extract the needed numbers:
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;
+
+ applyDragFactor(Math::pow(15.7/1000, 1/SOLVE_TWEAK));
+ applyLiftRatio(Math::pow(104, 1/SOLVE_TWEAK));
+ setupState(0,0, &_cruiseState);
+ _model.setState(&_cruiseState);
+ _controls.reset();
+ _model.getBody()->reset();
+}
+
}; // namespace yasim
projects / flightgear.git / blobdiff