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simpler & faster

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This commit is contained in:
mfranz 2006-08-17 22:58:06 +00:00
parent 4099269ab3
commit 8a31fbaae4
1 changed files with 23 additions and 32 deletions
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55
Nasal/dynamic_view.nas
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@ -8,6 +8,7 @@ npow = func(v, w) { math.exp(math.ln(abs(v)) * w) * (v < 0 ? -1 : 1) }
clamp = func(v, min, max) { v < min ? min : v > max ? max : v }
# Class that reads a property value, applies factor & offset, clamps to min & max,
# and optionally lowpass filters. lowpass = 0 means no filtering, lowpass = 1
# generates a coefficient 0.1, lowpass = 2 a coefficient 0.01 etc.
@ -62,12 +63,9 @@ ViewAxis = {
reset : func {
me.applied_offset = 0;
},
input : func {
die("ViewAxis.input() is pure virtual");
},
apply : func {
apply : func(w) {
var v = me.prop.getValue() - me.applied_offset;
me.applied_offset = me.input();
me.applied_offset = w;
me.prop.setDoubleValue(v + me.applied_offset);
},
add_offset : func {
@ -91,7 +89,7 @@ ViewManager = {
m.pitch_axis = ViewAxis.new("sim/current-view/goal-pitch-offset-deg");
m.roll_axis = ViewAxis.new("sim/current-view/goal-roll-offset-deg");
# accerations are converted to G
# accerations are converted to G (but one G is subtraced from z-accel)
m.ax = Input.new("accelerations/pilot/x-accel-fps_sec", 0.03108095, 0, 1.1, 0);
m.ay = Input.new("accelerations/pilot/y-accel-fps_sec", 0.03108095, 0, 1.1);
m.az = Input.new("accelerations/pilot/z-accel-fps_sec", -0.03108095, -1, 1.0073);
@ -101,22 +99,7 @@ ViewManager = {
#m.vy = Input.new("velocities/vBody-fps", 0.5924838, 0);
#m.vz = Input.new("velocities/wBody-fps", 0.5924838, 0);
m.wow = Input.new("gear/gear/wow", 2, -1, 1);
m.adir = 0;
m.heading_axis.input = func { # heading ...
-10 * sin(me.roll) * cos(me.pitch) # due to roll
+ me.steering # due to ground steering
}
m.pitch_axis.input = func { # pitch ...
10 * sin(me.roll) * sin(me.roll) # due to roll
+ 30 * (1 / (1 + math.exp(2 - me.pilot_az)) # due to G load
- 0.119202922) # [move to origin; 1/(1+exp(2)) ]
}
m.roll_axis.input = func { # roll ...
0.0 * sin(me.roll) * cos(me.pitch) # due to roll (none)
}
m.wow = Input.new("gear/gear/wow", 2, -1, 1.2);
m.reset();
return m;
},
@ -139,16 +122,24 @@ ViewManager = {
var aval = math.sqrt(ax * ax + ay * ay);
#var vval = math.sqrt(vx * vx + vy * vy);
ViewAxis.pilot_az = az;
ViewAxis.pitch = me.pitchN.getValue();
ViewAxis.roll = me.rollN.getValue();
ViewAxis.steering = 80 * wow
* nsigmoid(adir * 5.5 / 180)
* nsigmoid(aval);
var pilot_az = az;
var pitch = me.pitchN.getValue();
var roll = me.rollN.getValue();
var steering = 80 * wow * nsigmoid(adir * 5.5 / 180) * nsigmoid(aval);
me.heading_axis.apply( # heading ...
-8 * sin(roll) * cos(pitch) # due to roll
+ steering # due to ground steering
);
me.pitch_axis.apply( # pitch ...
10 * sin(roll) * sin(roll) # due to roll
+ 30 * (1 / (1 + math.exp(2 - pilot_az)) # due to G load
- 0.119202922) # [move to origin; 1/(1+exp(2)) ]
);
me.roll_axis.apply(0 # roll ...
#0.0 * sin(roll) * cos(pitch) # due to roll (none)
);
me.heading_axis.apply();
me.pitch_axis.apply();
me.roll_axis.apply();
},
add_offsets : func {
me.heading_axis.add_offset();
@ -159,7 +150,7 @@ ViewManager = {
# Update loop for the whole dynamice view manager. It only runs if
# Update loop for the whole dynamic view manager. It only runs if
# /sim/view[0]/dynamic/enabled is true.
#
main_loop = func(id) {