#include "Vector.hpp"
#include "Rotorpart.hpp"
-#include "Rotorblade.hpp"
+#include "Integrator.hpp"
+#include "RigidBody.hpp"
+#include "BodyEnvironment.hpp"
+
namespace yasim {
class Surface;
class Rotorpart;
+class Ground;
+const float rho_null=1.184f; //25DegC, 101325Pa
class Rotor {
+ friend std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);
+private:
+ float _torque;
+ float _omega,_omegan,_omegarel,_ddt_omega,_omegarelneu;
+ float _phi_null;
+ float _chord;
+ float _taper;
+ float _airfoil_incidence_no_lift;
+ float _collective;
+ float _airfoil_lift_coefficient;
+ float _airfoil_drag_coefficient0;
+ float _airfoil_drag_coefficient1;
+ int _ccw;
+ int _number_of_blades;
+ int _number_of_segments;
+ int _number_of_parts;
+ float _balance1;
+ float _balance2;
+ float _tilt_yaw;
+ float _tilt_roll;
+ float _tilt_pitch;
+ float _old_tilt_roll;
+ float _old_tilt_pitch;
+ float _old_tilt_yaw;
+ float _downwash_factor;
+
public:
Rotor();
~Rotor();
-
// Rotor geometry:
- void setNormal(float* normal); //the normal vector (direction of rotormast, pointing up)
- void setForward(float* forward); //the normal vector pointing forward (for ele and ail)
- //void setMaxPitchForce(float force);
+ void setNormal(float* normal);
+ //the normal vector (direction of rotormast, pointing up)
+
+ void setForward(float* forward);
+ //the normal vector pointing forward (for ele and ail)
void setForceAtPitchA(float force);
void setPowerAtPitch0(float value);
void setPowerAtPitchB(float value);
void setMaxCyclicele(float value);
void setMaxCollective(float value);
void setMinCollective(float value);
+ void setMinTiltYaw(float value);
+ void setMinTiltPitch(float value);
+ void setMinTiltRoll(float value);
+ void setMaxTiltYaw(float value);
+ void setMaxTiltPitch(float value);
+ void setMaxTiltRoll(float value);
+ void setTiltCenterX(float value);
+ void setTiltCenterY(float value);
+ void setTiltCenterZ(float value);
+ void setTiltYaw(float lval);
+ void setTiltPitch(float lval);
+ void setTiltRoll(float lval);
void setDiameter(float value);
void setWeightPerBlade(float value);
void setNumberOfBlades(float value);
void setC2(float value);
void setStepspersecond(float steps);
void setRPM(float value);
+ void setPhiNull(float value);
void setRelLenHinge(float value);
void setBase(float* base); // in local coordinates
+ void getPosition(float* out);
void setCyclicail(float lval,float rval);
void setCyclicele(float lval,float rval);
void setCollective(float lval);
+ void setRotorBalance(float lval);
void setAlphaoutput(int i, const char *text);
void setCcw(int ccw);
- void setSimBlades(int value);
- void setEngineOn(int value);
-
+ int getCcw() {return _ccw;};
+ void setParameter(const char *parametername, float value);
+ void setGlobalGround(double* global_ground, float* global_vel);
+ float getTorqueOfInertia();
int getValueforFGSet(int j,char *b,float *f);
void setName(const char *text);
- void inititeration(float dt);
+ void inititeration(float dt,float omegarel,float ddt_omegarel,float *rot);
void compile();
-
+ void updateDirectionsAndPositions(float *rot);
void getTip(float* tip);
+ void calcLiftFactor(float* v, float rho, State *s);
+ void getDownWash(float *pos, float * v_heli, float *downwash);
+ int getNumberOfBlades(){return _number_of_blades;}
+ void setDownwashFactor(float value);
-
-
- // Ground effect information, stil missing
- float getGroundEffect(float* posOut);
-
// Query the list of Rotorpart objects
int numRotorparts();
Rotorpart* getRotorpart(int n);
- // Query the list of Rotorblade objects
- int numRotorblades();
- Rotorblade* getRotorblade(int n);
void setAlpha0(float f);
void setAlphamin(float f);
void setAlphamax(float f);
void setMaxteeterdamp(float f);
void setRelLenTeeterHinge(float value);
void setAlpha0factor(float f);
+ void setTorque(float f);
+ void addTorque(float f);
+ float getTorque() {return _torque;}
+ float getLiftFactor();
+ float getLiftCoef(float incidence,float speed);
+ float getDragCoef(float incidence,float speed);
+ float getOmegaRel() {return _omegarel;}
+ float getOmegaRelNeu() {return _omegarelneu;}
+ void setOmegaRelNeu(float orn) {_omegarelneu=orn;}
+ float getOmegan() {return _omegan;}
+ float getTaper() { return _taper;}
+ float getChord() { return _chord;}
+ int getNumberOfParts() { return _number_of_parts;}
+ float getOverallStall()
+ {if (_stall_v2sum !=0 ) return _stall_sum/_stall_v2sum; else return 0;}
+ float getAirfoilIncidenceNoLift() {return _airfoil_incidence_no_lift;}
+ Vector _rotorparts;
+ void findGroundEffectAltitude(Ground * ground_cb,State *s);
+ float *getGravDirection() {return _grav_direction;}
+ void writeInfo();
+ void setSharedFlapHinge(bool s);
+ void setBalance(float b);
+ float getBalance(){ return (_balance1>0)?_balance1*_balance2:_balance1;}
private:
+ void testForRotorGroundContact (Ground * ground_cb,State *s);
void strncpy(char *dest,const char *src,int maxlen);
void interp(float* v1, float* v2, float frac, float* out);
- Rotorpart* newRotorpart(float* pos, float *posforceattac, float *normal,
- float* speed,float *dirzentforce, float zentforce,float maxpitchforce,float maxpitch, float minpitch, float mincyclic,float maxcyclic,
- float delta3,float mass,float translift,float rellenhinge,float len);
-
- Rotorblade* newRotorblade(
- float* pos, float *normal,float *front, float *right,
- float lforceattac,float relenhinge,
- float *dirzentforce, float zentforce,float maxpitchforce,float maxpitch,
- float delta3,float mass,float translift,float phi,float omega,float len,float speed);
-
-
-
- Vector _rotorparts;
- Vector _rotorblades;
-
+ float calcStall(float incidence,float speed);
+ float findGroundEffectAltitude(Ground * ground_cb,State *s,
+ float *pos0,float *pos1,float *pos2,float *pos3,
+ int iteration=0,float a0=-1,float a1=-1,float a2=-1,float a3=-1);
+ static void euler2orient(float roll, float pitch, float hdg,
+ float* out);
+ Rotorpart* newRotorpart(/*float* pos, float *posforceattac, float *normal,
+ float* speed,float *dirzentforce, */float zentforce,float maxpitchforce,
+ float delta3,float mass,float translift,float rellenhinge,float len);
float _base[3];
-
+ float _groundeffectpos[4][3];
+ float _ground_contact_pos[16][3];
+ int _num_ground_contact_pos;
+ float _ground_effect_altitude;
+ //some postions, where to calcualte the ground effect
float _normal[3];//the normal vector (direction of rotormast, pointing up)
+ float _normal_with_yaw_roll[3];//the normal vector (perpendicular to rotordisc)
float _forward[3];
float _diameter;
- int _number_of_blades;
float _weight_per_blade;
float _rel_blade_center;
+ float _tilt_center[3];
+ float _min_tilt_yaw;
+ float _min_tilt_pitch;
+ float _min_tilt_roll;
+ float _max_tilt_yaw;
+ float _max_tilt_pitch;
+ float _max_tilt_roll;
float _min_pitch;
float _max_pitch;
- float _force_at_max_pitch;
float _force_at_pitch_a;
float _pitch_a;
float _power_at_pitch_0;
float _stepspersecond;
char _alphaoutput[8][256];
char _name[256];
- int _ccw;
int _engineon;
- float _omega,_omegan,_omegarel;
float _alphamin,_alphamax,_alpha0,_alpha0factor;
float _teeterdamp,_maxteeterdamp;
float _rellenteeterhinge;
+ float _translift_ve;
+ float _translift_maxfactor;
+ float _ground_effect_constant;
+ float _vortex_state_lift_factor;
+ float _vortex_state_c1;
+ float _vortex_state_c2;
+ float _vortex_state_c3;
+ float _vortex_state_e1;
+ float _vortex_state_e2;
+ float _vortex_state_e3;
+ float _lift_factor,_f_ge,_f_vs,_f_tl;
+ float _vortex_state;
+ double _global_ground[4];
+ float _liftcoef;
+ float _dragcoef0;
+ float _dragcoef1;
+ float _twist; //outer incidence = inner inner incidence + _twist
+ float _rel_len_where_incidence_is_measured;
+ float _torque_of_inertia;
+ float _rel_len_blade_start;
+ float _incidence_stall_zero_speed;
+ float _incidence_stall_half_sonic_speed;
+ float _lift_factor_stall;
+ float _stall_change_over;
+ float _drag_factor_stall;
+ float _stall_sum;
+ float _stall_v2sum;
+ float _yaw;
+ float _roll;
+ float _cyclicail;
+ float _cyclicele;
+ float _cyclic_factor;
+ float _rotor_correction_factor;
+ float _phi;
+ bool _shared_flap_hinge;
+ float _grav_direction[3];
+ int _properties_tied;
+ bool _directions_and_postions_dirty;
+};
+std::ostream & operator<<(std::ostream & out, /*const*/ Rotor& r);
+class Rotorgear {
+private:
+ int _in_use;
+ int _engineon;
+ float _max_power_engine;
+ float _engine_prop_factor;
+ float _yasimdragfactor;
+ float _yasimliftfactor;
+ float _rotorbrake;
+ float _max_power_rotor_brake;
+ float _rotorgear_friction;
+ float _ddt_omegarel;
+ float _engine_accel_limit;
+ float _total_torque_on_engine;
+ Vector _rotors;
+ float _target_rel_rpm;
+ float _max_rel_torque;
-
-
-
-
+public:
+ Rotorgear();
+ ~Rotorgear();
+ int isInUse() {return _in_use;}
+ void setInUse() {_in_use = 1;}
+ void compile();
+ void addRotor(Rotor* rotor);
+ int getNumRotors() {return _rotors.size();}
+ Rotor* getRotor(int i) {return (Rotor*)_rotors.get(i);}
+ void calcForces(float* torqueOut);
+ void setParameter(char *parametername, float value);
+ void setEngineOn(int value);
+ int getEngineon();
+ void setRotorBrake(float lval);
+ void setRotorEngineMaxRelTorque(float lval);
+ void setRotorRelTarget(float lval);
+ float getYasimDragFactor() { return _yasimdragfactor;}
+ float getYasimLiftFactor() { return _yasimliftfactor;}
+ float getMaxPowerEngine() { return _max_power_engine;}
+ float getMaxPowerRotorBrake() { return _max_power_rotor_brake;}
+ float getRotorBrake() { return _rotorbrake;}
+ float getEnginePropFactor() {return _engine_prop_factor;}
+ Vector* getRotors() { return &_rotors;}
+ void initRotorIteration(float *lrot,float dt);
+ void getDownWash(float *pos, float * v_heli, float *downwash);
+ int getValueforFGSet(int j,char *b,float *f);
};
}; // namespace yasim
projects / flightgear.git / blobdiff