#include "Surface.hpp"
#include "Rotor.hpp"
#include "Rotorpart.hpp"
-#include "Rotorblade.hpp"
+#include "Hitch.hpp"
#include "Glue.hpp"
#include "Ground.hpp"
delete _ground_cb;
delete _hook;
delete _launchbar;
+ for(int i=0; i<_hitches.size();i++)
+ delete (Hitch*)_hitches.get(i);
+
}
void Model::getThrust(float* out)
_turb->offset(toff);
}
+ for(i=0; i<_hitches.size(); i++) {
+ Hitch* h = (Hitch*)_hitches.get(i);
+ h->integrate(_integrator.getInterval());
+ }
+
}
-// 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
+// This function initializes some variables for the rotor calculation
+// Furthermore it integrates in "void Rotorpart::inititeration
+// (float dt,float *rot)" the "rotor orientation" by omega*dt for the
+// 3D-visualization of the heli only. and it compensates the rotation
+// of the fuselage. The rotor does not follow the rotation of the fuselage.
+// Therefore its rotation must be subtracted from the orientation of the
+// rotor.
+// Maik
void Model::initRotorIteration()
{
- int i;
float dt = _integrator.getInterval();
float lrot[3];
+ if (!_rotorgear.isInUse()) return;
Math::vmul33(_s->orient, _s->rot, lrot);
Math::mul3(dt,lrot,lrot);
- for(i=0; i<_rotors.size(); i++) {
- Rotor* r = (Rotor*)_rotors.get(i);
- r->inititeration(dt);
- }
- for(i=0; i<_rotorparts.size(); i++) {
- Rotorpart* rp = (Rotorpart*)_rotorparts.get(i);
- rp->inititeration(dt,lrot);
- }
- for(i=0; i<_rotorblades.size(); i++) {
- Rotorblade* rp = (Rotorblade*)_rotorblades.get(i);
- rp->inititeration(dt,lrot);
- }
+ _rotorgear.initRotorIteration(lrot,dt);
}
void Model::iterate()
return (Surface*)_surfaces.get(handle);
}
-Rotorpart* Model::getRotorpart(int handle)
-{
- return (Rotorpart*)_rotorparts.get(handle);
-}
-Rotorblade* Model::getRotorblade(int handle)
-{
- return (Rotorblade*)_rotorblades.get(handle);
-}
-Rotor* Model::getRotor(int handle)
+Rotorgear* Model::getRotorgear(void)
{
- return (Rotor*)_rotors.get(handle);
+ return &_rotorgear;
}
int Model::addThruster(Thruster* t)
return _surfaces.add(surf);
}
-int Model::addRotorpart(Rotorpart* rpart)
-{
- return _rotorparts.add(rpart);
-}
-int Model::addRotorblade(Rotorblade* rblade)
-{
- return _rotorblades.add(rblade);
-}
-int Model::addRotor(Rotor* r)
-{
- return _rotors.add(r);
-}
-
int Model::addGear(Gear* gear)
{
return _gears.add(gear);
_launchbar = launchbar;
}
+int Model::addHitch(Hitch* hitch)
+{
+ return _hitches.add(hitch);
+}
+
void Model::setGroundCallback(Ground* ground_cb)
{
delete _ground_cb;
double pt[3];
s->posLocalToGlobal(pos, pt);
+ // Ask for the ground plane in the global coordinate system
+ double global_ground[4];
+ float global_vel[3];
+ const SGMaterial* material;
+ _ground_cb->getGroundPlane(pt, global_ground, global_vel, &material);
+ g->setGlobalGround(global_ground, global_vel, pt[0], pt[1], material);
+ }
+
+ for(i=0; i<_hitches.size(); i++) {
+ Hitch* h = (Hitch*)_hitches.get(i);
+
+ // Get the point of interest
+ float pos[3];
+ h->getPosition(pos);
+
+ // Transform the local coordinates of the contact point to
+ // global coordinates.
+ double pt[3];
+ s->posLocalToGlobal(pos, pt);
+
// Ask for the ground plane in the global coordinate system
double global_ground[4];
float global_vel[3];
_ground_cb->getGroundPlane(pt, global_ground, global_vel);
- g->setGlobalGround(global_ground, global_vel);
+ h->setGlobalGround(global_ground, global_vel);
+ }
+
+ for(i=0; i<_rotorgear.getRotors()->size(); i++) {
+ Rotor* r = (Rotor*)_rotorgear.getRotors()->get(i);
+ r->findGroundEffectAltitude(_ground_cb,s);
}
// The arrester hook
// step.
_body.setGyro(_gyro);
_body.addTorque(_torque);
- int i;
+ int i,j;
for(i=0; i<_thrusters.size(); i++) {
Thruster* t = (Thruster*)_thrusters.get(i);
float thrust[3], pos[3];
_body.addForce(pos, force);
_body.addTorque(torque);
}
- for(i=0; i<_rotorparts.size(); i++) {
- Rotorpart* sf = (Rotorpart*)_rotorparts.get(i);
-
- // Vsurf = wind - velocity + (rot cross (cg - pos))
- float vs[3], pos[3];
- sf->getPosition(pos);
+ for (j=0; j<_rotorgear.getRotors()->size();j++)
+ {
+ Rotor* r = (Rotor *)_rotorgear.getRotors()->get(j);
+ float vs[3], pos[3];
+ r->getPosition(pos);
localWind(pos, s, vs, alt);
-
- float force[3], torque[3];
- sf->calcForce(vs, _rho, force, torque);
- //Math::add3(faero, force, faero);
-
- sf->getPositionForceAttac(pos);
-
- _body.addForce(pos, force);
- _body.addTorque(torque);
+ r->calcLiftFactor(vs, _rho,s);
+ float tq=0;
+ // total torque of rotor (scalar) for calculating new rotor rpm
+
+ for(i=0; i<r->_rotorparts.size(); i++) {
+ float torque_scalar=0;
+ Rotorpart* rp = (Rotorpart*)r->_rotorparts.get(i);
+
+ // Vsurf = wind - velocity + (rot cross (cg - pos))
+ float vs[3], pos[3];
+ rp->getPosition(pos);
+ localWind(pos, s, vs, alt,true);
+
+ float force[3], torque[3];
+ rp->calcForce(vs, _rho, force, torque, &torque_scalar);
+ tq+=torque_scalar;
+ rp->getPositionForceAttac(pos);
+
+ _body.addForce(pos, force);
+ _body.addTorque(torque);
+ }
+ r->setTorque(tq);
}
- for(i=0; i<_rotorblades.size(); i++) {
- Rotorblade* sf = (Rotorblade*)_rotorblades.get(i);
-
- // Vsurf = wind - velocity + (rot cross (cg - pos))
- float vs[3], pos[3];
- sf->getPosition(pos);
- localWind(pos, s, vs, alt);
-
- float force[3], torque[3];
- sf->calcForce(vs, _rho, force, torque);
- //Math::add3(faero, force, faero);
-
- sf->getPositionForceAttac(pos);
-
- _body.addForce(pos, force);
- _body.addTorque(torque);
+ if (_rotorgear.isInUse())
+ {
+ float torque[3];
+ _rotorgear.calcForces(torque);
+ _body.addTorque(torque);
}
// Account for ground effect by multiplying the vertical force
// component by an amount linear with the fraction of the wingspan
// above the ground.
- float dist = ground[3] - Math::dot3(ground, _wingCenter);
- if(dist > 0 && dist < _groundEffectSpan) {
- float fz = Math::dot3(faero, ground);
- fz *= (_groundEffectSpan - dist) / _groundEffectSpan;
- fz *= _groundEffect;
- Math::mul3(fz, ground, faero);
- _body.addForce(faero);
+ if ((_groundEffectSpan != 0) && (_groundEffect != 0 ))
+ {
+ float dist = ground[3] - Math::dot3(ground, _wingCenter);
+ if(dist > 0 && dist < _groundEffectSpan) {
+ float fz = Math::dot3(faero, ground);
+ fz *= (_groundEffectSpan - dist) / _groundEffectSpan;
+ fz *= _groundEffect;
+ Math::mul3(fz, ground, faero);
+ _body.addForce(faero);
+ }
}
// Convert the velocity and rotation vectors to local coordinates
// The arrester hook
if(_hook) {
- float v[3], rot[3], glvel[3], ground[3];
_hook->calcForce(_ground_cb, &_body, s, lv, lrot);
float force[3], contact[3];
_hook->getForce(force, contact);
// The launchbar/holdback
if(_launchbar) {
- float v[3], rot[3], glvel[3], ground[3];
_launchbar->calcForce(_ground_cb, &_body, s, lv, lrot);
float forcelb[3], contactlb[3], forcehb[3], contacthb[3];
_launchbar->getForce(forcelb, contactlb, forcehb, contacthb);
_body.addForce(contactlb, forcelb);
_body.addForce(contacthb, forcehb);
}
-}
+// The hitches
+ for(i=0; i<_hitches.size(); i++) {
+ float force[3], contact[3];
+ Hitch* h = (Hitch*)_hitches.get(i);
+ h->calcForce(_ground_cb,&_body, s);
+ h->getForce(force, contact);
+ _body.addForce(contact, force);
+ }
+}
void Model::newState(State* s)
{
_s = s;
for(i=0; i<_gears.size(); i++) {
Gear* g = (Gear*)_gears.get(i);
- // Get the point of ground contact
- float pos[3], cmpr[3];
- g->getPosition(pos);
- g->getCompression(cmpr);
- Math::mul3(g->getCompressFraction(), cmpr, cmpr);
- Math::add3(cmpr, pos, pos);
-
- // The plane transformed to local coordinates.
- double global_ground[4];
- g->getGlobalGround(global_ground);
- float ground[4];
- s->planeGlobalToLocal(global_ground, ground);
- float dist = ground[3] - Math::dot3(pos, ground);
-
- // Find the lowest one
- if(dist < min)
- min = dist;
+ if (!g->getSubmergable())
+ {
+ // Get the point of ground contact
+ float pos[3], cmpr[3];
+ g->getPosition(pos);
+ g->getCompression(cmpr);
+ Math::mul3(g->getCompressFraction(), cmpr, cmpr);
+ Math::add3(cmpr, pos, pos);
+
+ // The plane transformed to local coordinates.
+ double global_ground[4];
+ g->getGlobalGround(global_ground);
+ float ground[4];
+ s->planeGlobalToLocal(global_ground, ground);
+ float dist = ground[3] - Math::dot3(pos, ground);
+
+ // Find the lowest one
+ if(dist < min)
+ min = dist;
+ }
}
_agl = min;
if(_agl < -1) // Allow for some integration slop
// Calculates the airflow direction at the given point and for the
// specified aircraft velocity.
-void Model::localWind(float* pos, State* s, float* out, float alt)
+void Model::localWind(float* pos, State* s, float* out, float alt, bool is_rotor)
{
float tmp[3], lwind[3], lrot[3], lv[3];
Math::mul3(-1, out, out); // (negated)
Math::add3(lwind, out, out); // + wind
Math::sub3(out, lv, out); // - velocity
+
+ //add the downwash of the rotors if it is not self a rotor
+ if (_rotorgear.isInUse()&&!is_rotor)
+ {
+ _rotorgear.getDownWash(pos,lv,tmp);
+ Math::add3(out,tmp, out); // + downwash
+ }
+
+
}
}; // namespace yasim
projects / flightgear.git / blobdiff