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Maik JUSTUS: "small update to the tilt-rotor feature"

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This commit is contained in:
mfranz 2007-06-16 07:22:47 +00:00
parent 6fc1a51e1d
commit 28da7c0a90
2 changed files with 23 additions and 5 deletions
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23
src/FDM/YASim/Rotor.cpp
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@ -141,6 +141,9 @@ Rotor::Rotor()
_tilt_yaw=0;
_tilt_roll=0;
_tilt_pitch=0;
_old_tilt_roll=0;
_old_tilt_pitch=0;
_old_tilt_yaw=0;
_min_tilt_yaw=0;
_min_tilt_pitch=0;
_min_tilt_roll=0;
@ -174,14 +177,16 @@ void Rotor::inititeration(float dt,float omegarel,float ddt_omegarel,float *rot)
_omega=_omegan*_omegarel;
_ddt_omega=_omegan*ddt_omegarel;
int i;
updateDirectionsAndPositions();
float drot[3];
updateDirectionsAndPositions(drot);
Math::add3(rot,drot,drot);
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)));
Rotorpart* r = (Rotorpart*)_rotorparts.get(i);
r->setOmega(_omega);
r->setDdtOmega(_ddt_omega);
r->inititeration(dt,rot);
r->inititeration(dt,drot);
r->setCyclic(_cyclicail*c+_cyclicele*s);
}
@ -1029,10 +1034,19 @@ void Rotor::euler2orient(float roll, float pitch, float hdg, float* out)
}
void Rotor::updateDirectionsAndPositions()
void Rotor::updateDirectionsAndPositions(float *rot)
{
if (!_directions_and_postions_dirty)
{
rot[0]=rot[1]=rot[2]=0;
return;
}
rot[0]=_old_tilt_roll-_tilt_roll;
rot[1]=_old_tilt_pitch-_tilt_pitch;
rot[2]=_old_tilt_yaw-_tilt_yaw;
_old_tilt_roll=_tilt_roll;
_old_tilt_pitch=_tilt_pitch;
_old_tilt_yaw=_tilt_yaw;
float orient[9];
euler2orient(_tilt_roll, _tilt_pitch, _tilt_yaw, orient);
float forward[3];
@ -1213,7 +1227,8 @@ void Rotor::compile()
rps[(i-_number_of_parts/4+_number_of_parts)%_number_of_parts],
rps[(i+_number_of_parts/4)%_number_of_parts]);
}
updateDirectionsAndPositions();
float drot[3];
updateDirectionsAndPositions(drot);
for (i=0;i<_number_of_parts;i++)
{
rps[i]->setCompiled();

5
src/FDM/YASim/Rotor.hpp
View file

@ -36,6 +36,9 @@ private:
float _tilt_yaw;
float _tilt_roll;
float _tilt_pitch;
float _old_tilt_roll;
float _old_tilt_pitch;
float _old_tilt_yaw;
public:
Rotor();
@ -99,7 +102,7 @@ public:
void setName(const char *text);
void inititeration(float dt,float omegarel,float ddt_omegarel,float *rot);
void compile();
void updateDirectionsAndPositions();
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);