_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;
+ _min_tilt_yaw=0;
+ _min_tilt_pitch=0;
+ _min_tilt_roll=0;
+ _max_tilt_yaw=0;
+ _max_tilt_pitch=0;
+ _max_tilt_roll=0;
}
Rotor::~Rotor()
_omega=_omegan*_omegarel;
_ddt_omega=_omegan*ddt_omegarel;
int i;
+ updateDirectionsAndPositions();
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)));
//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)
{
_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;
_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);
//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;
-
- //rotor is divided into _number_of_parts parts
- //each part is calcualted at _number_of_segments points
+ // 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;
+}
- //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()
+{
+ if (!_directions_and_postions_dirty)
+ return;
+ 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
}
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]);
}
+ updateDirectionsAndPositions();
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);
projects / flightgear.git / commitdiff