-#include <stdio.h>
-
#include "Atmosphere.hpp"
#include "Thruster.hpp"
#include "Math.hpp"
#include "Model.hpp"
namespace yasim {
+#if 0
void printState(State* s)
{
State tmp = *s;
printf("rot: %6.2f %6.2f %6.2f\n", tmp.rot[0], tmp.rot[1], tmp.rot[2]);
printf("rac: %6.2f %6.2f %6.2f\n", tmp.racc[0], tmp.racc[1], tmp.racc[2]);
}
+#endif
Model::Model()
{
_agl = 0;
_crashed = false;
+ _turb = 0;
}
Model::~Model()
}
}
-void Model::initIteration(float dt)
+void Model::initIteration()
{
// Precompute torque and angular momentum for the thrusters
int i;
for(i=0; i<3; i++)
_gyro[i] = _torque[i] = 0;
+
+ // Need a local altitude for the wind calculation
+ float dummy[3];
+ float alt = Math::abs(localGround(_s, dummy));
+
for(i=0; i<_thrusters.size(); i++) {
Thruster* t = (Thruster*)_thrusters.get(i);
// Get the wind velocity at the thruster location
float pos[3], v[3];
t->getPosition(pos);
- localWind(pos, _s, v);
+ localWind(pos, _s, v, alt);
t->setWind(v);
t->setAir(_pressure, _temp, _rho);
Math::add3(v, _gyro, _gyro);
}
+ // Displace the turbulence coordinates according to the local wind.
+ if(_turb) {
+ float toff[3];
+ Math::mul3(_integrator.getInterval(), _wind, toff);
+ _turb->offset(toff);
+ }
+}
-
-
+// FIXME: This method looks to me like it's doing *integration*, not
+// initialization. Integration code should ideally go into
+// calcForces. Only very "unstiff" problems can be solved well like
+// this (see the engine code for an example); I don't know if rotor
+// dynamics qualify or not.
+// -Andy
+void Model::initRotorIteration()
+{
+ int i;
+ float dt = _integrator.getInterval();
float lrot[3];
Math::vmul33(_s->orient, _s->rot, lrot);
Math::mul3(dt,lrot,lrot);
Rotorblade* rp = (Rotorblade*)_rotorblades.get(i);
rp->inititeration(dt,lrot);
}
-
}
-void Model::iterate(float dt)
+void Model::iterate()
{
- initIteration(dt);
+ initIteration();
+ initRotorIteration();
_body.recalc(); // FIXME: amortize this, somehow
_integrator.calcNewInterval();
}
return _s;
}
-void Model::resetState()
-{
- //_s->resetState();
-}
-
-
void Model::setState(State* s)
{
_integrator.setState(s);
// (v dot _ground)-_ground[3] gives the distance AGL.
void Model::setGroundPlane(double* planeNormal, double fromOrigin)
{
- int i;
- for(i=0; i<3; i++) _ground[i] = planeNormal[i];
+ for(int i=0; i<3; i++) _ground[i] = planeNormal[i];
_ground[3] = fromOrigin;
}
// velocity), and are therefore constant across the four calls to
// calcForces. They get computed before we begin the integration
// step.
- //printf("f");
_body.setGyro(_gyro);
_body.addTorque(_torque);
int i;
_body.addForce(pos, thrust);
}
+ // Get a ground plane in local coordinates. The first three
+ // elements are the normal vector, the final one is the distance
+ // from the local origin along that vector to the ground plane
+ // (negative for objects "above" the ground)
+ float ground[4];
+ ground[3] = localGround(s, ground);
+ float alt = Math::abs(ground[3]);
+
// Gravity, convert to a force, then to local coordinates
float grav[3];
Glue::geodUp(s->pos, grav);
// Vsurf = wind - velocity + (rot cross (cg - pos))
float vs[3], pos[3];
sf->getPosition(pos);
- localWind(pos, s, vs);
+ localWind(pos, s, vs, alt);
float force[3], torque[3];
sf->calcForce(vs, _rho, force, torque);
Math::add3(faero, force, faero);
-
-
_body.addForce(pos, force);
_body.addTorque(torque);
}
// Vsurf = wind - velocity + (rot cross (cg - pos))
float vs[3], pos[3];
sf->getPosition(pos);
- localWind(pos, s, vs);
+ localWind(pos, s, vs, alt);
float force[3], torque[3];
sf->calcForce(vs, _rho, force, torque);
// Vsurf = wind - velocity + (rot cross (cg - pos))
float vs[3], pos[3];
sf->getPosition(pos);
- localWind(pos, s, vs);
+ localWind(pos, s, vs, alt);
float force[3], torque[3];
sf->calcForce(vs, _rho, force, torque);
_body.addForce(pos, force);
_body.addTorque(torque);
}
- /*
- {
- float cg[3];
- _body.getCG(cg);
- //printf("cg: %5.3lf %5.3lf %5.3lf ",cg[0],cg[1],cg[2]);
- }
- */
-
- // Get a ground plane in local coordinates. The first three
- // elements are the normal vector, the final one is the distance
- // from the local origin along that vector to the ground plane
- // (negative for objects "above" the ground)
- float ground[4];
- ground[3] = localGround(s, ground);
// Account for ground effect by multiplying the vertical force
// component by an amount linear with the fraction of the wingspan
{
_s = s;
- //printState(s);
-
// Some simple collision detection
float min = 1e8;
float ground[4], pos[3], cmpr[3];
// Calculates the airflow direction at the given point and for the
// specified aircraft velocity.
-void Model::localWind(float* pos, State* s, float* out)
-{
- // Most of the input is in global coordinates. Fix that.
- float lwind[3], lrot[3], lv[3];
- Math::vmul33(s->orient, _wind, lwind);
+void Model::localWind(float* pos, State* s, float* out, float alt)
+{
+ float tmp[3], lwind[3], lrot[3], lv[3];
+
+ // Get a global coordinate for our local position, and calculate
+ // turbulence.
+ if(_turb) {
+ double gpos[3]; float up[3];
+ Math::tmul33(s->orient, pos, tmp);
+ for(int i=0; i<3; i++) {
+ gpos[i] = s->pos[i] + tmp[i];
+ up[i] = _ground[i];
+ }
+ _turb->getTurbulence(gpos, alt, up, lwind);
+ Math::add3(_wind, lwind, lwind);
+ } else {
+ Math::set3(_wind, lwind);
+ }
+
+ // Convert to local coordinates
+ Math::vmul33(s->orient, lwind, lwind);
Math::vmul33(s->orient, s->rot, lrot);
Math::vmul33(s->orient, s->v, lv);
projects / flightgear.git / blobdiff