#include "Ground.hpp"
#include "Rotor.hpp"
-#include STL_IOSTREAM
-#include STL_IOMANIP
+#include <iostream>
+#include <iomanip>
-SG_USING_STD(setprecision);
+using std::setprecision;
#ifdef TEST_DEBUG
#include <stdio.h>
_airfoil_drag_coefficient0=0;
_airfoil_drag_coefficient1=0;
for(i=0; i<2; i++)
- _global_ground[i] = 0;
+ _global_ground[i] = _tilt_center[i] = 0;
_global_ground[2] = 1;
_global_ground[3] = -1e3;
_incidence_stall_zero_speed=18*pi/180.;
_balance2=1;
_properties_tied=0;
_num_ground_contact_pos=0;
+ _directions_and_postions_dirty=true;
+ _tilt_yaw=0;
+ _tilt_roll=0;
+ _tilt_pitch=0;
+ _old_tilt_roll=0;
+ _old_tilt_pitch=0;
+ _old_tilt_yaw=0;
+ _min_tilt_yaw=0;
+ _min_tilt_pitch=0;
+ _min_tilt_roll=0;
+ _max_tilt_yaw=0;
+ _max_tilt_pitch=0;
+ _max_tilt_roll=0;
+ _downwash_factor=1;
}
Rotor::~Rotor()
_omega=_omegan*_omegarel;
_ddt_omega=_omegan*ddt_omegarel;
int i;
+ float drot[3];
+ updateDirectionsAndPositions(drot);
+ Math::add3(rot,drot,drot);
for(i=0; i<_rotorparts.size(); i++) {
float s = Math::sin(float(2*pi*i/_number_of_parts+(_phi-pi/2.)*(_ccw?1:-1)));
float c = Math::cos(float(2*pi*i/_number_of_parts+(_phi-pi/2.)*(_ccw?1:-1)));
Rotorpart* r = (Rotorpart*)_rotorparts.get(i);
r->setOmega(_omega);
r->setDdtOmega(_ddt_omega);
- r->inititeration(dt,rot);
+ r->inititeration(dt,drot);
r->setCyclic(_cyclicail*c+_cyclicele*s);
}
//update balance
if ((_balance1*_balance2 < 0.97) && (_balance1>-1))
{
- _balance1-=(0.97-_balance1*_balance2)*(0.97-_balance1*_balance2)*0.00001;
+ _balance1-=(0.97-_balance1*_balance2)*(0.97-_balance1*_balance2)*0.005;
if (_balance1<-1) _balance1=-1;
}
}
else
if (j==4)
{
- sprintf(text,"/rotors/%s/debug/debugfge",_name);
- *f=_f_ge;
+ sprintf(text,"/rotors/%s/tilt/pitch-deg",_name);
+ *f=_tilt_pitch*180/pi;
}
else if (j==5)
{
- sprintf(text,"/rotors/%s/debug/debugfvs",_name);
- *f=_f_vs;
+ sprintf(text,"/rotors/%s/tilt/roll-deg",_name);
+ *f=_tilt_roll*180/pi;
}
else if (j==6)
{
- sprintf(text,"/rotors/%s/debug/debugftl",_name);
- *f=_f_tl;
+ sprintf(text,"/rotors/%s/tilt/yaw-deg",_name);
+ *f=_tilt_yaw*180/pi;
}
else if (j==7)
{
void Rotorgear::setRotorEngineMaxRelTorque(float lval)
{
- fgGetNode("/rotors/gear/max-rel-torque", true)->setDoubleValue(lval);
+ _max_rel_torque=lval;
}
void Rotorgear::setRotorRelTarget(float lval)
{
- fgGetNode("/rotors/gear/target-rel-rpm", true)->setDoubleValue(lval);
+ _target_rel_rpm=lval;
}
void Rotor::setAlpha0(float f)
_min_pitch=value/180*pi;
}
+void Rotor::setMinTiltYaw(float value)
+{
+ _min_tilt_yaw=value/180*pi;
+}
+
+void Rotor::setMinTiltPitch(float value)
+{
+ _min_tilt_pitch=value/180*pi;
+}
+
+void Rotor::setMinTiltRoll(float value)
+{
+ _min_tilt_roll=value/180*pi;
+}
+
+void Rotor::setMaxTiltYaw(float value)
+{
+ _max_tilt_yaw=value/180*pi;
+}
+
+void Rotor::setMaxTiltPitch(float value)
+{
+ _max_tilt_pitch=value/180*pi;
+}
+
+void Rotor::setMaxTiltRoll(float value)
+{
+ _max_tilt_roll=value/180*pi;
+}
+
+void Rotor::setTiltCenterX(float value)
+{
+ _tilt_center[0] = value;
+}
+
+void Rotor::setTiltCenterY(float value)
+{
+ _tilt_center[1] = value;
+}
+
+void Rotor::setTiltCenterZ(float value)
+{
+ _tilt_center[2] = value;
+}
+
void Rotor::setMaxCollective(float value)
{
_max_pitch=value/180*pi;
_rel_len_hinge=value;
}
+void Rotor::setDownwashFactor(float value)
+{
+ _downwash_factor=value;
+}
+
void Rotor::setAlphaoutput(int i, const char *text)
{
strncpy(_alphaoutput[i],text,255);
for(i=0; i<4; i++) _global_ground[i] = global_ground[i];
}
-void Rotor::setParameter(char *parametername, float value)
+void Rotor::setParameter(const char *parametername, float value)
{
#define p(a,b) if (strcmp(parametername,#a)==0) _##a = (value * (b)); else
p(translift_ve,1)
_rotorbrake=lval;
}
+void Rotor::setTiltYaw(float lval)
+{
+ lval = Math::clamp(lval, -1, 1);
+ _tilt_yaw = _min_tilt_yaw+(lval+1)/2*(_max_tilt_yaw-_min_tilt_yaw);
+ _directions_and_postions_dirty = true;
+}
+
+void Rotor::setTiltPitch(float lval)
+{
+ lval = Math::clamp(lval, -1, 1);
+ _tilt_pitch = _min_tilt_pitch+(lval+1)/2*(_max_tilt_pitch-_min_tilt_pitch);
+ _directions_and_postions_dirty = true;
+}
+
+void Rotor::setTiltRoll(float lval)
+{
+ lval = Math::clamp(lval, -1, 1);
+ _tilt_roll = _min_tilt_roll+(lval+1)/2*(_max_tilt_roll-_min_tilt_roll);
+ _directions_and_postions_dirty = true;
+}
+
void Rotor::setCollective(float lval)
{
lval = Math::clamp(lval, -1, 1);
_cyclicail=-(_mincyclicail+(lval+1)/2*(_maxcyclicail-_mincyclicail));
}
+void Rotor::setRotorBalance(float lval)
+{
+ lval = Math::clamp(lval, -1, 1);
+ _balance2 = lval;
+}
+
void Rotor::getPosition(float* out)
{
int i;
_f_ge=1+_diameter/_ground_effect_altitude*_ground_effect_constant;
// Now calculate translational lift
- float v_vert = Math::dot3(v,_normal);
+ // float v_vert = Math::dot3(v,_normal);
float help[3];
Math::cross3(v,_normal,help);
float v_horiz = Math::mag3(help);
//store the gravity direction
Glue::geodUp(s->pos, _grav_direction);
+ s->velGlobalToLocal(_grav_direction, _grav_direction);
}
void Rotor::findGroundEffectAltitude(Ground * ground_cb,State *s)
//at dist = rotor radius it is assumed to be 1/e * v1 + (1-1/e)* v2
float v = g * v1 + (1-g) * v2;
- Math::mul3(-v,_normal_with_yaw_roll,downwash);
+ Math::mul3(-v*_downwash_factor,_normal_with_yaw_roll,downwash);
//the downwash is calculated in the opposite direction of the normal
}
-void Rotor::compile()
+void Rotor::euler2orient(float roll, float pitch, float hdg, float* out)
{
- // Have we already been compiled?
- if(_rotorparts.size() != 0) return;
+ // the Glue::euler2orient, inverts y<z due to different bases
+ // therefore the negation of all "y" and "z" coeffizients
+ Glue::euler2orient(roll,pitch,hdg,out);
+ for (int i=3;i<9;i++) out[i]*=-1.0;
+}
- //rotor is divided into _number_of_parts parts
- //each part is calcualted at _number_of_segments points
- //clamp to 4..256
- //and make it a factor of 4
- _number_of_parts=(int(Math::clamp(_number_of_parts,4,256))>>2)<<2;
-
- _dynamic=_dynamic*(1/ //inverse of the time
- ( (60/_rotor_rpm)/4 //for rotating 90 deg
- +(60/_rotor_rpm)/(2*_number_of_blades) //+ meantime a rotorblade
- //will pass a given point
- ));
+void Rotor::updateDirectionsAndPositions(float *rot)
+{
+ if (!_directions_and_postions_dirty)
+ {
+ rot[0]=rot[1]=rot[2]=0;
+ return;
+ }
+ rot[0]=_old_tilt_roll-_tilt_roll;
+ rot[1]=_old_tilt_pitch-_tilt_pitch;
+ rot[2]=_old_tilt_yaw-_tilt_yaw;
+ _old_tilt_roll=_tilt_roll;
+ _old_tilt_pitch=_tilt_pitch;
+ _old_tilt_yaw=_tilt_yaw;
+ float orient[9];
+ euler2orient(_tilt_roll, _tilt_pitch, _tilt_yaw, orient);
+ float forward[3];
+ float normal[3];
+ float base[3];
+ Math::sub3(_base,_tilt_center,base);
+ Math::vmul33(orient, base, base);
+ Math::add3(base,_tilt_center,base);
+ Math::vmul33(orient, _forward, forward);
+ Math::vmul33(orient, _normal, normal);
+#define _base base
+#define _forward forward
+#define _normal normal
float directions[5][3];
//pointing forward, right, ... the 5th is ony for calculation
directions[0][0]=_forward[0];
Math::cross3(directions[i-1],_normal,directions[i]);
else
Math::cross3(_normal,directions[i-1],directions[i]);
- Math::unit3(directions[i],directions[i]);
}
Math::set3(directions[4],directions[0]);
// now directions[0] is perpendicular to the _normal.and has a length
// of 1. if _forward is already normalized and perpendicular to the
// normal, directions[0] will be the same
- _num_ground_contact_pos=(_number_of_parts<16)?_number_of_parts:16;
+ //_num_ground_contact_pos=(_number_of_parts<16)?_number_of_parts:16;
for (i=0;i<_num_ground_contact_pos;i++)
{
float help[3];
- float s = Math::sin(pi*2*_num_ground_contact_pos/i);
- float c = Math::cos(pi*2*_num_ground_contact_pos/i);
+ float s = Math::sin(pi*2*i/_num_ground_contact_pos);
+ float c = Math::cos(pi*2*i/_num_ground_contact_pos);
Math::mul3(c*_diameter*0.5,directions[0],_ground_contact_pos[i]);
Math::mul3(s*_diameter*0.5,directions[1],help);
Math::add3(help,_ground_contact_pos[i],_ground_contact_pos[i]);
Math::mul3(_diameter*0.7,directions[i],_groundeffectpos[i]);
Math::add3(_base,_groundeffectpos[i],_groundeffectpos[i]);
}
+ for (i=0;i<_number_of_parts;i++)
+ {
+ Rotorpart* rp = getRotorpart(i);
+ float lpos[3],lforceattac[3],lspeed[3],dirzentforce[3];
+ float s = Math::sin(2*pi*i/_number_of_parts);
+ float c = Math::cos(2*pi*i/_number_of_parts);
+ float sp = Math::sin(float(2*pi*i/_number_of_parts-pi/2.+_phi));
+ float cp = Math::cos(float(2*pi*i/_number_of_parts-pi/2.+_phi));
+ float direction[3],nextdirection[3],help[3],direction90deg[3];
+ float rotorpartmass = _weight_per_blade*_number_of_blades/_number_of_parts*.453;
+ float speed=_rotor_rpm/60*_diameter*_rel_blade_center*pi;
+ float lentocenter=_diameter*_rel_blade_center*0.5;
+ float lentoforceattac=_diameter*_rel_len_hinge*0.5;
+ float zentforce=rotorpartmass*speed*speed/lentocenter;
+
+ Math::mul3(c ,directions[0],help);
+ Math::mul3(s ,directions[1],direction);
+ Math::add3(help,direction,direction);
+
+ Math::mul3(c ,directions[1],help);
+ Math::mul3(s ,directions[2],direction90deg);
+ Math::add3(help,direction90deg,direction90deg);
+
+ Math::mul3(cp ,directions[1],help);
+ Math::mul3(sp ,directions[2],nextdirection);
+ Math::add3(help,nextdirection,nextdirection);
+
+ Math::mul3(lentocenter,direction,lpos);
+ Math::add3(lpos,_base,lpos);
+ Math::mul3(lentoforceattac,nextdirection,lforceattac);
+ //nextdirection: +90deg (gyro)!!!
+
+ Math::add3(lforceattac,_base,lforceattac);
+ Math::mul3(speed,direction90deg,lspeed);
+ Math::mul3(1,nextdirection,dirzentforce);
+ rp->setPosition(lpos);
+ rp->setNormal(_normal);
+ rp->setZentipetalForce(zentforce);
+ rp->setPositionForceAttac(lforceattac);
+ rp->setSpeed(lspeed);
+ rp->setDirectionofZentipetalforce(dirzentforce);
+ rp->setDirectionofRotorPart(direction);
+ }
+#undef _base
+#undef _forward
+#undef _normal
+ _directions_and_postions_dirty=false;
+}
+
+void Rotor::compile()
+{
+ // Have we already been compiled?
+ if(_rotorparts.size() != 0) return;
+
+ //rotor is divided into _number_of_parts parts
+ //each part is calcualted at _number_of_segments points
+
+ //clamp to 4..256
+ //and make it a factor of 4
+ _number_of_parts=(int(Math::clamp(_number_of_parts,4,256))>>2)<<2;
+
+ _dynamic=_dynamic*(1/ //inverse of the time
+ ( (60/_rotor_rpm)/4 //for rotating 90 deg
+ +(60/_rotor_rpm)/(2*_number_of_blades) //+ meantime a rotorblade
+ //will pass a given point
+ ));
+ //normalize the directions
+ Math::unit3(_forward,_forward);
+ Math::unit3(_normal,_normal);
+ _num_ground_contact_pos=(_number_of_parts<16)?_number_of_parts:16;
float rotorpartmass = _weight_per_blade*_number_of_blades/_number_of_parts*.453;
//was pounds -> now kg
* _diameter * _rel_blade_center * _rel_blade_center /(0.5*0.5);
float speed=_rotor_rpm/60*_diameter*_rel_blade_center*pi;
float lentocenter=_diameter*_rel_blade_center*0.5;
- float lentoforceattac=_diameter*_rel_len_hinge*0.5;
+ // float lentoforceattac=_diameter*_rel_len_hinge*0.5;
float zentforce=rotorpartmass*speed*speed/lentocenter;
float pitchaforce=_force_at_pitch_a/_number_of_parts*.453*9.81;
// was pounds of force, now N, devided by _number_of_parts
float relamp=(omega*omega/(2*_delta*Math::sqrt(sqr(omega0*omega0-omega*omega)
+4*_delta*_delta*omega*omega)))*_cyclic_factor;
- float relamp_theoretical=(omega*omega/(2*delta_theoretical*Math::sqrt(sqr(omega0*omega0-omega*omega)
- +4*delta_theoretical*delta_theoretical*omega*omega)))*_cyclic_factor;
+ //float relamp_theoretical=(omega*omega/(2*delta_theoretical*Math::sqrt(sqr(omega0*omega0-omega*omega)
+ // +4*delta_theoretical*delta_theoretical*omega*omega)))*_cyclic_factor;
_phi=Math::acos(_rel_len_hinge);
_phi-=Math::atan(_delta3);
if (!_no_torque)
}
Rotorpart* rps[256];
+ int i;
for (i=0;i<_number_of_parts;i++)
{
- float lpos[3],lforceattac[3],lspeed[3],dirzentforce[3];
- float s = Math::sin(2*pi*i/_number_of_parts);
- float c = Math::cos(2*pi*i/_number_of_parts);
- float sp = Math::sin(float(2*pi*i/_number_of_parts-pi/2.+_phi));
- float cp = Math::cos(float(2*pi*i/_number_of_parts-pi/2.+_phi));
- float direction[3],nextdirection[3],help[3],direction90deg[3];
- Math::mul3(c ,directions[0],help);
- Math::mul3(s ,directions[1],direction);
- Math::add3(help,direction,direction);
-
- Math::mul3(c ,directions[1],help);
- Math::mul3(s ,directions[2],direction90deg);
- Math::add3(help,direction90deg,direction90deg);
-
- Math::mul3(cp ,directions[1],help);
- Math::mul3(sp ,directions[2],nextdirection);
- Math::add3(help,nextdirection,nextdirection);
-
- Math::mul3(lentocenter,direction,lpos);
- Math::add3(lpos,_base,lpos);
- Math::mul3(lentoforceattac,nextdirection,lforceattac);
- //nextdirection: +90deg (gyro)!!!
-
- Math::add3(lforceattac,_base,lforceattac);
- Math::mul3(speed,direction90deg,lspeed);
- Math::mul3(1,nextdirection,dirzentforce);
-
- Rotorpart* rp=rps[i]=newRotorpart(lpos, lforceattac, _normal,
- lspeed,dirzentforce,zentforce,pitchaforce,_delta3,rotorpartmass,
+ Rotorpart* rp=rps[i]=newRotorpart(zentforce,pitchaforce,_delta3,rotorpartmass,
_translift,_rel_len_hinge,lentocenter);
int k = i*4/_number_of_parts;
rp->setAlphaoutput(_alphaoutput[k&1?k:(_ccw?k^2:k)],0);
_rotorparts.add(rp);
rp->setTorque(torquemax,torque0);
rp->setRelamp(relamp);
- rp->setDirectionofRotorPart(direction);
rp->setTorqueOfInertia(_torque_of_inertia/_number_of_parts);
rp->setDirection(2*pi*i/_number_of_parts);
}
rps[(i-_number_of_parts/4+_number_of_parts)%_number_of_parts],
rps[(i+_number_of_parts/4)%_number_of_parts]);
}
+ float drot[3];
+ updateDirectionsAndPositions(drot);
for (i=0;i<_number_of_parts;i++)
{
rps[i]->setCompiled();
rps[i]->setRelamp(relamp);
}
rps[0]->setOmega(0);
+ setCollective(0);
+ setCyclicail(0,0);
+ setCyclicele(0,0);
+
writeInfo();
//tie the properties
}
#endif
}
-Rotorpart* Rotor::newRotorpart(float* pos, float *posforceattac, float *normal,
- float* speed,float *dirzentforce, float zentforce,float maxpitchforce,
+Rotorpart* Rotor::newRotorpart(float zentforce,float maxpitchforce,
float delta3,float mass,float translift,float rellenhinge,float len)
{
Rotorpart *r = new Rotorpart();
- r->setPosition(pos);
- r->setNormal(normal);
- r->setZentipetalForce(zentforce);
- r->setPositionForceAttac(posforceattac);
- r->setSpeed(speed);
- r->setDirectionofZentipetalforce(dirzentforce);
r->setDelta3(delta3);
r->setDynamic(_dynamic);
r->setTranslift(_translift);
total_torque+=r->getTorque()*omegan;
}
float max_torque_of_engine=0;
- SGPropertyNode * node=fgGetNode("/rotors/gear", true);
- float target_rel_rpm=node->getDoubleValue("target-rel-rpm",1);
+ // SGPropertyNode * node=fgGetNode("/rotors/gear", true);
if (_engineon)
{
- float max_rel_torque=node->getDoubleValue("max-rel-torque",1);
- max_torque_of_engine=_max_power_engine*max_rel_torque;
- float df=target_rel_rpm-omegarel;
+ max_torque_of_engine=_max_power_engine*_max_rel_torque;
+ float df=_target_rel_rpm-omegarel;
df/=_engine_prop_factor;
df = Math::clamp(df, 0, 1);
- max_torque_of_engine = df * _max_power_engine*max_rel_torque;
+ max_torque_of_engine = df * _max_power_engine*_max_rel_torque;
}
total_torque*=-1;
_ddt_omegarel=0;
//change the rotation of the rotors
if ((max_torque_of_engine<total_torque) //decreasing rotation
- ||((max_torque_of_engine>total_torque)&&(omegarel<target_rel_rpm))
+ ||((max_torque_of_engine>total_torque)&&(omegarel<_target_rel_rpm))
//increasing rotation due to engine
||(total_torque<0) ) //increasing rotation due to autorotation
{
for(j=0; j<_rotors.size(); j++) {
Rotor* r = (Rotor*)_rotors.get(j);
for(i=0; i<r->_rotorparts.size(); i++) {
- float torque_scalar=0;
+ // float torque_scalar=0;
Rotorpart* rp = (Rotorpart*)r->_rotorparts.get(i);
float torque[3];
rp->getAccelTorque(_ddt_omegarel,torque);
void Rotorgear::compile()
{
- float wgt = 0;
+ // float wgt = 0;
for(int j=0; j<_rotors.size(); j++) {
Rotor* r = (Rotor*)_rotors.get(j);
r->compile();
}
- fgGetNode("/rotors/gear/target-rel-rpm", true)->setDoubleValue(1);
- fgGetNode("/rotors/gear/max-rel-torque", true)->setDoubleValue(1);
}
void Rotorgear::getDownWash(float *pos, float * v_heli, float *downwash)
_ddt_omegarel=0;
_engine_accel_limit=0.05f;
_total_torque_on_engine=0;
+ _target_rel_rpm=1;
+ _max_rel_torque=1;
}
Rotorgear::~Rotorgear()
projects / flightgear.git / blobdiff