X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGLGear.h;h=f1828f8cf840b17c4c7ffebc6ea90ac5022d8fec;hb=a302cdc1cbb3c147e7c862b484cdd5d86f30a29c;hp=4de980edf1df2ab16785e8eca7bf5ef79394e944;hpb=43c47f3823faa0829aada79d64a26c2960d2a1d2;p=flightgear.git
diff --git a/src/FDM/JSBSim/models/FGLGear.h b/src/FDM/JSBSim/models/FGLGear.h
index 4de980edf..f1828f8cf 100644
--- a/src/FDM/JSBSim/models/FGLGear.h
+++ b/src/FDM/JSBSim/models/FGLGear.h
@@ -4,7 +4,7 @@
Author: Jon S. Berndt
Date started: 11/18/99
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
@@ -38,18 +38,16 @@ SENTRY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include
-#include
-#include
-#include
@@ -163,30 +161,26 @@ CLASS DOCUMENTATION
{number}
{number}
+
+ {number}
+ {number}
+ {number}
+
{number}
{number}
{number}
{number}
- {number}
- {number}
+ {number}
+ {number}
{number | 0 | 360}
{NONE | LEFT | RIGHT | CENTER | NOSE | TAIL}
{0 | 1}
-
- {number}
- {number}
-
-
- {number}
- {number}
-
- {number}
@endcode
@author Jon S. Berndt
- @version $Id$
+ @version $Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $
@see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
NASA-Ames", NASA CR-2497, January 1975
@see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
@@ -199,7 +193,7 @@ CLASS DOCUMENTATION
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGLGear : public FGJSBBase
+class FGLGear : public FGForce
{
public:
/// Brake grouping enumerators
@@ -207,28 +201,24 @@ public:
/// Steering group membership enumerators
enum SteerType {stSteer, stFixed, stCaster};
/// Contact point type
- enum ContactType {ctBOGEY, ctSTRUCTURE, ctUNKNOWN};
+ enum ContactType {ctBOGEY, ctSTRUCTURE};
/// Report type enumerators
enum ReportType {erNone=0, erTakeoff, erLand};
/// Damping types
enum DampType {dtLinear=0, dtSquare};
+ /// Friction types
+ enum FrictionType {ftRoll=0, ftSide, ftDynamic};
/** Constructor
@param el a pointer to the XML element that contains the CONTACT info.
@param Executive a pointer to the parent executive object
@param number integer identifier for this instance of FGLGear
*/
FGLGear(Element* el, FGFDMExec* Executive, int number);
- /** Constructor
- @param lgear a reference to an existing FGLGear object */
- FGLGear(const FGLGear& lgear);
/// Destructor
~FGLGear();
-
/// The Force vector for this gear
- FGColumnVector3& Force(void);
- /// The Moment vector for this gear
- FGColumnVector3& Moment(void) {return vMoment;}
+ FGColumnVector3& GetBodyForces(void);
/// Gets the location of the gear in Body axes
FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
@@ -238,73 +228,75 @@ public:
double GetLocalGear(int idx) const { return vLocalGear(idx); }
/// Gets the name of the gear
- inline string GetName(void) const {return name; }
+ string GetName(void) const {return name; }
/// Gets the Weight On Wheels flag value
- inline bool GetWOW(void) const {return WOW; }
+ bool GetWOW(void) const {return WOW; }
/// Gets the current compressed length of the gear in feet
- inline double GetCompLen(void) const {return compressLength;}
+ double GetCompLen(void) const {return compressLength;}
/// Gets the current gear compression velocity in ft/sec
- inline double GetCompVel(void) const {return compressSpeed; }
+ double GetCompVel(void) const {return compressSpeed; }
/// Gets the gear compression force in pounds
- inline double GetCompForce(void) const {return vForce(eZ); }
- inline double GetBrakeFCoeff(void) const {return BrakeFCoeff;}
+ double GetCompForce(void) const {return StrutForce; }
+ double GetBrakeFCoeff(void) const {return BrakeFCoeff;}
/// Gets the current normalized tire pressure
- inline double GetTirePressure(void) const { return TirePressureNorm; }
+ double GetTirePressure(void) const { return TirePressureNorm; }
/// Sets the new normalized tire pressure
- inline void SetTirePressure(double p) { TirePressureNorm = p; }
+ void SetTirePressure(double p) { TirePressureNorm = p; }
/// Sets the brake value in percent (0 - 100)
- inline void SetBrake(double bp) {brakePct = bp;}
+ void SetBrake(double bp) {brakePct = bp;}
/// Sets the weight-on-wheels flag.
void SetWOW(bool wow) {WOW = wow;}
/** Set the console touchdown reporting feature
@param flag true turns on touchdown reporting, false turns it off */
- inline void SetReport(bool flag) { ReportEnable = flag; }
+ void SetReport(bool flag) { ReportEnable = flag; }
/** Get the console touchdown reporting feature
@return true if reporting is turned on */
- inline bool GetReport(void) const { return ReportEnable; }
+ bool GetReport(void) const { return ReportEnable; }
double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
double GetstaticFCoeff(void) const { return staticFCoeff; }
- inline int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
- inline int GetSteerType(void) const { return (int)eSteerType; }
-
- inline double GetZPosition(void) const { return vXYZ(3); }
- inline void SetZPosition(double z) { vXYZ(3) = z; }
-
- bool GetSteerable(void) const { return eSteerType != stFixed; }
- inline bool GetRetractable(void) const { return isRetractable; }
- inline bool GetGearUnitUp(void) const { return GearUp; }
- inline bool GetGearUnitDown(void) const { return GearDown; }
- inline double GetWheelSideForce(void) const { return SideForce; }
- inline double GetWheelRollForce(void) const { return RollingForce; }
- inline double GetWheelSideVel(void) const { return SideWhlVel; }
- inline double GetWheelRollVel(void) const { return RollingWhlVel; }
- inline double GetBodyXForce(void) const { return vLocalForce(eX); }
- inline double GetBodyYForce(void) const { return vLocalForce(eY); }
- inline double GetWheelSlipAngle(void) const { return WheelSlip; }
- double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
- bool IsBogey(void) const { return (eContactType == ctBOGEY);}
+ int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
+ int GetSteerType(void) const { return (int)eSteerType; }
+
+ bool GetSteerable(void) const { return eSteerType != stFixed; }
+ bool GetRetractable(void) const { return isRetractable; }
+ bool GetGearUnitUp(void) const { return GearUp; }
+ bool GetGearUnitDown(void) const { return GearDown; }
+ double GetWheelRollForce(void) {
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eX)*cos(SteerAngle) + vForce(eY)*sin(SteerAngle); }
+ double GetWheelSideForce(void) {
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eY)*cos(SteerAngle) - vForce(eX)*sin(SteerAngle); }
+ double GetWheelRollVel(void) const { return vWhlVelVec(eX)*cos(SteerAngle)
+ + vWhlVelVec(eY)*sin(SteerAngle); }
+ double GetWheelSideVel(void) const { return vWhlVelVec(eY)*cos(SteerAngle)
+ - vWhlVelVec(eX)*sin(SteerAngle); }
+ double GetWheelSlipAngle(void) const { return WheelSlip; }
+ double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
+ bool IsBogey(void) const { return (eContactType == ctBOGEY);}
double GetGearUnitPos(void);
+ double GetSteerAngleDeg(void) const { return radtodeg*SteerAngle; }
+ FGPropagate::LagrangeMultiplier* GetMultiplierEntry(int entry);
+ void SetLagrangeMultiplier(double lambda, int entry);
+ FGColumnVector3& UpdateForces(void);
void bind(void);
private:
int GearNumber;
- FGColumnVector3 vXYZ;
- FGColumnVector3 vMoment;
+ static const FGMatrix33 Tb2s;
+ FGMatrix33 mTGear;
+ FGColumnVector3 vGearOrient;
FGColumnVector3 vWhlBodyVec;
FGColumnVector3 vLocalGear;
- FGColumnVector3 vForce;
- FGColumnVector3 last_vForce; // remove this
- FGColumnVector3 vLocalForce;
- FGColumnVector3 vWhlVelVec; // Velocity of this wheel (Local)
- FGColumnVector3 normal, cvel;
- FGColumnVector3 prevOut, prevIn;
+ FGColumnVector3 vWhlVelVec, vLocalWhlVel; // Velocity of this wheel
+ FGColumnVector3 normal, cvel, vGroundNormal;
FGLocation contact, gearLoc;
FGTable *ForceY_Table;
double dT;
@@ -315,6 +307,7 @@ private:
double compressLength;
double compressSpeed;
double staticFCoeff, dynamicFCoeff, rollingFCoeff;
+ double Stiffness, Shape, Peak, Curvature; // Pacejka factors
double brakePct;
double BrakeFCoeff;
double maxCompLen;
@@ -323,15 +316,11 @@ private:
double TakeoffDistanceTraveled;
double TakeoffDistanceTraveled50ft;
double LandingDistanceTraveled;
- double MaximumStrutForce;
+ double MaximumStrutForce, StrutForce;
double MaximumStrutTravel;
- double SideWhlVel, RollingWhlVel;
- double RollingForce, SideForce, FCoeff;
+ double FCoeff;
double WheelSlip;
- double prevSlipIn;
- double prevSlipOut;
double TirePressureNorm;
- double SinWheel, CosWheel;
double GearPos;
bool useFCSGearPos;
bool WOW;
@@ -344,11 +333,13 @@ private:
bool isRetractable;
bool GearUp, GearDown;
bool Servicable;
- string name;
- string sSteerType;
- string sBrakeGroup;
- string sRetractable;
- string sContactType;
+ bool Castered;
+ bool StaticFriction;
+ std::string name;
+ std::string sSteerType;
+ std::string sBrakeGroup;
+ std::string sRetractable;
+ std::string sContactType;
BrakeGroup eBrakeGrp;
ContactType eContactType;
@@ -356,19 +347,14 @@ private:
DampType eDampType;
DampType eDampTypeRebound;
double maxSteerAngle;
- double RFRV; // Rolling force relaxation velocity
- double SFRV; // Side force relaxation velocity
- double LongForceLagFilterCoeff; // Longitudinal Force Lag Filter Coefficient
- double LatForceLagFilterCoeff; // Lateral Force Lag Filter Coefficient
- double WheelSlipLagFilterCoeff; // Wheel slip angle lag filter coefficient
-
- FGFDMExec* Exec;
- FGState* State;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGFCS* FCS;
- FGMassBalance* MassBalance;
+
+ FGPropagate::LagrangeMultiplier LMultiplier[3];
+
+ FGAuxiliary* Auxiliary;
+ FGPropagate* Propagate;
+ FGFCS* FCS;
+ FGMassBalance* MassBalance;
+ FGGroundReactions* GroundReactions;
void ComputeRetractionState(void);
void ComputeBrakeForceCoefficient(void);
@@ -376,6 +362,8 @@ private:
void ComputeSlipAngle(void);
void ComputeSideForceCoefficient(void);
void ComputeVerticalStrutForce(void);
+ void ComputeGroundCoordSys(void);
+ void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
void CrashDetect(void);
void InitializeReporting(void);
void ResetReporting(void);
@@ -384,12 +372,6 @@ private:
void Debug(int from);
};
}
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGAuxiliary.h"
-#include "FGFCS.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%