81 lines
1.8 KiB
C++
81 lines
1.8 KiB
C++
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#ifndef _MODEL_HPP
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#define _MODEL_HPP
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#include "Integrator.hpp"
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#include "RigidBody.hpp"
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#include "BodyEnvironment.hpp"
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#include "util/Vector.hpp"
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namespace yasim {
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// Declare the types whose pointers get passed around here
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class Integrator;
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class Thruster;
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class Surface;
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class Gear;
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class Model : public BodyEnvironment {
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public:
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Model();
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virtual ~Model();
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RigidBody* getBody();
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Integrator* getIntegrator();
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State* getState();
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void setState(State* s);
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void iterate();
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// Externally-managed subcomponents
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int addThruster(Thruster* t);
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int addSurface(Surface* surf);
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int addGear(Gear* gear);
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Surface* getSurface(int handle);
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Gear* getGear(int handle);
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// Semi-private methods for use by the Airplane solver.
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Thruster* getThruster(int handle);
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void setThruster(int handle, Thruster* t);
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void initIteration();
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void getThrust(float* out);
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//
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// Per-iteration settables
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//
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void setGroundPlane(double* planeNormal, double fromOrigin);
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void setWind(float* wind);
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void setAirDensity(float rho);
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void setAir(float pressure, float temp);
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// BodyEnvironment callbacks
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virtual void calcForces(State* s);
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virtual void newState(State* s);
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private:
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void calcGearForce(Gear* g, float* v, float* rot, float* ground);
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float gearFriction(float wgt, float v, Gear* g);
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float localGround(State* s, float* out);
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void localWind(float* pos, State* s, float* out);
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Integrator _integrator;
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RigidBody _body;
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Vector _thrusters;
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Vector _surfaces;
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Vector _gears;
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double _ground[4];
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float _rho;
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float _wind[3];
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// Accumulators for the total internal gyro and engine torque
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float _gyro[3];
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float _torque[3];
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State* _s;
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};
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}; // namespace yasim
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#endif // _MODEL_HPP
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