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Maik Justus: modifications to add helicopter modeling to YASim.

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This commit is contained in:
curt 2003-10-16 14:56:13 +00:00
parent 78cad450e6
commit 5333f82eb1
12 changed files with 440 additions and 23 deletions
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125
src/FDM/YASim/Airplane.cpp
View file

@ -5,8 +5,9 @@
#include "Glue.hpp"
#include "RigidBody.hpp"
#include "Surface.hpp"
#include "Rotorpart.hpp"
#include "Rotorblade.hpp"
#include "Thruster.hpp"
#include "Airplane.hpp"
namespace yasim {
@ -72,7 +73,7 @@ void Airplane::iterate(float dt)
// The gear might have moved. Change their aerodynamics.
updateGearState();
_model.iterate();
_model.iterate(dt);
}
void Airplane::consumeFuel(float dt)
@ -255,6 +256,11 @@ void Airplane::addVStab(Wing* vstab)
_vstabs.add(vstab);
}
void Airplane::addRotor(Rotor* rotor)
{
_rotors.add(rotor);
}
void Airplane::addFuselage(float* front, float* back, float width,
float taper, float mid)
{
@ -443,6 +449,69 @@ float Airplane::compileWing(Wing* w)
return wgt;
}
float Airplane::compileRotor(Rotor* w)
{
/* todo contact points
// The tip of the wing is a contact point
float tip[3];
w->getTip(tip);
addContactPoint(tip);
if(w->isMirrored()) {
tip[1] *= -1;
addContactPoint(tip);
}
*/
// Make sure it's initialized. The surfaces will pop out with
// total drag coefficients equal to their areas, which is what we
// want.
w->compile();
_model.addRotor(w);
float wgt = 0;
int i;
/* Todo: add rotor to model!!!
Todo: calc and add mass!!!
*/
for(i=0; i<w->numRotorparts(); i++) {
Rotorpart* s = (Rotorpart*)w->getRotorpart(i);
//float td = s->getTotalDrag();
//s->setTotalDrag(td);
_model.addRotorpart(s);
float mass = s->getWeight();
mass = mass * Math::sqrt(mass);
float pos[3];
s->getPosition(pos);
_model.getBody()->addMass(mass, pos);
wgt += mass;
}
for(i=0; i<w->numRotorblades(); i++) {
Rotorblade* s = (Rotorblade*)w->getRotorblade(i);
//float td = s->getTotalDrag();
//s->setTotalDrag(td);
_model.addRotorblade(s);
float mass = s->getWeight();
mass = mass * Math::sqrt(mass);
float pos[3];
s->getPosition(pos);
_model.getBody()->addMass(mass, pos);
wgt += mass;
}
return wgt;
}
float Airplane::compileFuselage(Fuselage* f)
{
// The front and back are contact points
@ -576,12 +645,17 @@ void Airplane::compile()
float aeroWgt = 0;
// The Wing objects
aeroWgt += compileWing(_wing);
aeroWgt += compileWing(_tail);
if (_wing)
aeroWgt += compileWing(_wing);
if (_tail)
aeroWgt += compileWing(_tail);
int i;
for(i=0; i<_vstabs.size(); i++) {
aeroWgt += compileWing((Wing*)_vstabs.get(i));
}
for(i=0; i<_rotors.size(); i++) {
aeroWgt += compileRotor((Rotor*)_rotors.get(i));
}
// The fuselage(s)
for(i=0; i<_fuselages.size(); i++) {
@ -628,10 +702,15 @@ void Airplane::compile()
// Ground effect
float gepos[3];
float gespan = _wing->getGroundEffect(gepos);
float gespan;
if(_wing)
gespan = _wing->getGroundEffect(gepos);
else
gespan=0;
_model.setGroundEffect(gepos, gespan, 0.15f);
solveGear();
solve();
// Do this after solveGear, because it creates "gear" objects that
@ -750,7 +829,7 @@ void Airplane::runCruise()
// Precompute thrust in the model, and calculate aerodynamic forces
_model.getBody()->recalc();
_model.getBody()->reset();
_model.initIteration();
_model.initIteration(.01);//hier parameter egal
_model.calcForces(&_cruiseState);
}
@ -793,7 +872,7 @@ void Airplane::runApproach()
// Precompute thrust in the model, and calculate aerodynamic forces
_model.getBody()->recalc();
_model.getBody()->reset();
_model.initIteration();
_model.initIteration(.01);//hier parameter egal
_model.calcForces(&_approachState);
}
@ -801,8 +880,10 @@ void Airplane::applyDragFactor(float factor)
{
float applied = Math::pow(factor, SOLVE_TWEAK);
_dragFactor *= applied;
_wing->setDragScale(_wing->getDragScale() * applied);
_tail->setDragScale(_tail->getDragScale() * applied);
if(_wing)
_wing->setDragScale(_wing->getDragScale() * applied);
if(_tail)
_tail->setDragScale(_tail->getDragScale() * applied);
int i;
for(i=0; i<_vstabs.size(); i++) {
Wing* w = (Wing*)_vstabs.get(i);
@ -818,8 +899,10 @@ void Airplane::applyLiftRatio(float factor)
{
float applied = Math::pow(factor, SOLVE_TWEAK);
_liftRatio *= applied;
_wing->setLiftRatio(_wing->getLiftRatio() * applied);
_tail->setLiftRatio(_tail->getLiftRatio() * applied);
if(_wing)
_wing->setLiftRatio(_wing->getLiftRatio() * applied);
if(_tail)
_tail->setLiftRatio(_tail->getLiftRatio() * applied);
int i;
for(i=0; i<_vstabs.size(); i++) {
Wing* w = (Wing*)_vstabs.get(i);
@ -848,6 +931,8 @@ void Airplane::solve()
float tmp[3];
_solutionIterations = 0;
_failureMsg = 0;
if((_wing)&&(_tail))
{
while(1) {
#if 0
printf("%d %f %f %f %f %f\n", //DEBUG
@ -859,9 +944,9 @@ void Airplane::solve()
_approachElevator.val);
#endif
if(_solutionIterations++ > 10000) {
if(_solutionIterations++ > 10000) {
_failureMsg = "Solution failed to converge after 10000 iterations";
return;
return;
}
// Run an iteration at cruise, and extract the needed numbers:
@ -986,5 +1071,19 @@ void Airplane::solve()
_failureMsg = "Tail incidence > 10 degrees";
return;
}
}
else
{
applyDragFactor(Math::pow(15.7/1000, 1/SOLVE_TWEAK));
applyLiftRatio(Math::pow(104, 1/SOLVE_TWEAK));
setupState(0,0, &_cruiseState);
_model.setState(&_cruiseState);
_controls.reset();
_model.getBody()->reset();
}
return;
}
}; // namespace yasim

8
src/FDM/YASim/Airplane.hpp
View file

@ -4,6 +4,7 @@
#include "ControlMap.hpp"
#include "Model.hpp"
#include "Wing.hpp"
#include "Rotor.hpp"
#include "Vector.hpp"
namespace yasim {
@ -33,6 +34,10 @@ public:
void setTail(Wing* tail);
void addVStab(Wing* vstab);
void addRotor(Rotor* Rotor);
int getNumRotors() {return _rotors.size();}
Rotor* getRotor(int i) {return (Rotor*)_rotors.get(i);}
void addFuselage(float* front, float* back, float width,
float taper=1, float mid=0.5);
int addTank(float* pos, float cap, float fuelDensity);
@ -89,6 +94,7 @@ private:
void solveGear();
void solve();
float compileWing(Wing* w);
float compileRotor(Rotor* w);
float compileFuselage(Fuselage* f);
void compileGear(GearRec* gr);
void applyDragFactor(float factor);
@ -119,6 +125,8 @@ private:
Vector _weights;
Vector _surfs; // NON-wing Surfaces
Vector _rotors;
Vector _cruiseControls;
State _cruiseState;
float _cruiseP;

8
src/FDM/YASim/ControlMap.cpp
View file

@ -4,6 +4,7 @@
#include "PistonEngine.hpp"
#include "Gear.hpp"
#include "Wing.hpp"
#include "Rotor.hpp"
#include "Math.hpp"
#include "Propeller.hpp"
@ -199,6 +200,10 @@ void ControlMap::applyControls(float dt)
case FLAP0: ((Wing*)obj)->setFlap0(lval, rval); break;
case FLAP1: ((Wing*)obj)->setFlap1(lval, rval); break;
case SPOILER: ((Wing*)obj)->setSpoiler(lval, rval); break;
case COLLECTIVE: ((Rotor*)obj)->setCollective(lval); break;
case CYCLICAIL: ((Rotor*)obj)->setCyclicail(lval,rval); break;
case CYCLICELE: ((Rotor*)obj)->setCyclicele(lval,rval); break;
case ROTORENGINEON: ((Rotor*)obj)->setEngineOn((int)lval); break;
case BOOST:
((Thruster*)obj)->getPistonEngine()->setBoost(lval);
break;
@ -213,6 +218,9 @@ float ControlMap::rangeMin(int type)
case FLAP0: return -1; // [-1:1]
case FLAP1: return -1;
case STEER: return -1;
case CYCLICELE: return -1;
case CYCLICAIL: return -1;
case COLLECTIVE: return -1;
case MAGNETOS: return 0; // [0:3]
default: return 0; // [0:1]
}

3
src/FDM/YASim/ControlMap.hpp
View file

@ -13,7 +13,8 @@ public:
ADVANCE, REHEAT, PROP,
BRAKE, STEER, EXTEND,
INCIDENCE, FLAP0, FLAP1, SLAT, SPOILER, VECTOR,
BOOST, CASTERING, PROPPITCH };
BOOST, CASTERING, PROPPITCH,
COLLECTIVE, CYCLICAIL, CYCLICELE, ROTORENGINEON};
enum { OPT_SPLIT = 0x01,
OPT_INVERT = 0x02,

154
src/FDM/YASim/FGFDM.cpp
View file

@ -10,8 +10,12 @@
#include "PropEngine.hpp"
#include "Propeller.hpp"
#include "PistonEngine.hpp"
#include "Rotor.hpp"
#include "Rotorpart.hpp"
#include "Rotorblade.hpp"
#include "FGFDM.hpp"
namespace yasim {
// Some conversion factors
@ -28,6 +32,7 @@ static const float INHG2PA = 3386.389;
static const float K2DEGF = 1.8;
static const float K2DEGFOFFSET = -459.4;
static const float CIN2CM = 1.6387064e-5;
static const float YASIM_PI = 3.14159265358979323846;
// Stubs, so that this can be compiled without the FlightGear
// binary. What's the best way to handle this?
@ -119,12 +124,16 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
v[1] = attrf(a, "y");
v[2] = attrf(a, "z");
_airplane.setPilotPos(v);
} else if(eq(name, "rotor")) {
_airplane.addRotor(parseRotor(a, name));
} else if(eq(name, "wing")) {
_airplane.setWing(parseWing(a, name));
} else if(eq(name, "hstab")) {
_airplane.setTail(parseWing(a, name));
} else if(eq(name, "vstab")) {
_airplane.addVStab(parseWing(a, name));
} else if(eq(name, "mstab")) {
_airplane.addVStab(parseWing(a, name));
} else if(eq(name, "propeller")) {
parsePropeller(a);
} else if(eq(name, "thruster")) {
@ -226,6 +235,11 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
} else if(eq(name, "spoiler")) {
((Wing*)_currObj)->setSpoiler(attrf(a, "start"), attrf(a, "end"),
attrf(a, "lift"), attrf(a, "drag"));
/* } else if(eq(name, "collective")) {
((Rotor*)_currObj)->setcollective(attrf(a, "min"), attrf(a, "max"));
} else if(eq(name, "cyclic")) {
((Rotor*)_currObj)->setcyclic(attrf(a, "ail"), attrf(a, "ele"));
*/
} else if(eq(name, "actionpt")) {
v[0] = attrf(a, "x");
v[1] = attrf(a, "y");
@ -351,6 +365,49 @@ void FGFDM::setOutputProperties()
fgSetFloat("/consumables/fuel/total-fuel-norm", totalFuel/totalCap);
}
for(i=0; i<_airplane.getNumRotors(); i++) {
Rotor*r=(Rotor*)_airplane.getRotor(i);
int j=0;
float f;
char b[256];
while(j=r->getValueforFGSet(j,b,&f))
{
if (b[0])
{
fgSetFloat(b,f);
}
}
for(j=0; j<r->numRotorparts(); j++) {
Rotorpart* s = (Rotorpart*)r->getRotorpart(j);
char *b;
int k;
for (k=0;k<2;k++)
{
b=s->getAlphaoutput(k);
if (b[0])
{
fgSetFloat(b,s->getAlpha(k));
//printf("setting [%s]\n",b);
}
}
}
for(j=0; j<r->numRotorblades(); j++) {
Rotorblade* s = (Rotorblade*)r->getRotorblade(j);
char *b;
int k;
for (k=0;k<2;k++)
{
b=s->getAlphaoutput(k);
if (b[0])
{
fgSetFloat(b,s->getAlpha(k));
}
}
}
}
for(i=0; i<_thrusters.size(); i++) {
EngRec* er = (EngRec*)_thrusters.get(i);
Thruster* t = er->eng;
@ -425,6 +482,92 @@ Wing* FGFDM::parseWing(XMLAttributes* a, const char* type)
float effect = attrf(a, "effectiveness", 1);
w->setDragScale(w->getDragScale()*effect);
_currObj = w;
return w;
}
Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
{
Rotor* w = new Rotor();
float defDihed = 0;
float pos[3];
pos[0] = attrf(a, "x");
pos[1] = attrf(a, "y");
pos[2] = attrf(a, "z");
w->setBase(pos);
float normal[3];
normal[0] = attrf(a, "nx");
normal[1] = attrf(a, "ny");
normal[2] = attrf(a, "nz");
w->setNormal(normal);
float forward[3];
forward[0] = attrf(a, "fx");
forward[1] = attrf(a, "fy");
forward[2] = attrf(a, "fz");
w->setForward(forward);
w->setMaxCyclicail(attrf(a, "maxcyclicail", 7.6));
w->setMaxCyclicele(attrf(a, "maxcyclicele", 4.94));
w->setMinCyclicail(attrf(a, "mincyclicail", -7.6));
w->setMinCyclicele(attrf(a, "mincyclicele", -4.94));
w->setMaxCollective(attrf(a, "maxcollective", 15.8));
w->setMinCollective(attrf(a, "mincollective", -0.2));
w->setDiameter(attrf(a, "diameter", 10.2));
w->setWeightPerBlade(attrf(a, "weightperblade", 44));
w->setNumberOfBlades(attrf(a, "numblades", 4));
w->setRelBladeCenter(attrf(a, "relbladecenter", 0.7));
w->setDynamic(attrf(a, "dynamic", 0.7));
w->setDelta3(attrf(a, "delta3", 0));
w->setDelta(attrf(a, "delta", 0));
w->setTranslift(attrf(a, "translift", 0.05));
w->setC2(attrf(a, "dragfactor", 1));
w->setStepspersecond(attrf(a, "stepspersecond", 120));
w->setRPM(attrf(a, "rpm", 424));
w->setRelLenHinge(attrf(a, "rellenflaphinge", 0.07));
w->setAlpha0((attrf(a, "flap0", -5))*YASIM_PI/180);
w->setAlphamin((attrf(a, "flapmin", -15))/180*YASIM_PI);
w->setAlphamax((attrf(a, "flapmax", 15))*YASIM_PI/180);
w->setAlpha0factor(attrf(a, "flap0factor", 1));
w->setTeeterdamp(attrf(a,"teeterdamp",.0001));
w->setMaxteeterdamp(attrf(a,"maxteeterdamp",1000));
w->setRelLenTeeterHinge(attrf(a,"rellenteeterhinge",0.01));
void setAlphamin(float f);
void setAlphamax(float f);
void setAlpha0factor(float f);
if(attristrue(a,"ccw"))
w->setCcw(1);
if(a->hasAttribute("name"))
w->setName(a->getValue("name") );
if(a->hasAttribute("alphaout0"))
w->setAlphaoutput(0,a->getValue("alphaout0") );
if(a->hasAttribute("alphaout1")) w->setAlphaoutput(1,a->getValue("alphaout1") );
if(a->hasAttribute("alphaout2")) w->setAlphaoutput(2,a->getValue("alphaout2") );
if(a->hasAttribute("alphaout3")) w->setAlphaoutput(3,a->getValue("alphaout3") );
if(a->hasAttribute("coneout")) w->setAlphaoutput(4,a->getValue("coneout") );
if(a->hasAttribute("yawout")) w->setAlphaoutput(5,a->getValue("yawout") );
if(a->hasAttribute("rollout")) w->setAlphaoutput(6,a->getValue("rollout") );
w->setPitchA(attrf(a, "pitch_a", 10));
w->setPitchB(attrf(a, "pitch_b", 10));
w->setForceAtPitchA(attrf(a, "forceatpitch_a", 3000));
w->setPowerAtPitch0(attrf(a, "poweratpitch_0", 300));
w->setPowerAtPitchB(attrf(a, "poweratpitch_b", 3000));
if(attristrue(a,"notorque"))
w->setNotorque(1);
if(attristrue(a,"simblades"))
w->setSimBlades(1);
_currObj = w;
return w;
}
@ -531,6 +674,10 @@ int FGFDM::parseOutput(const char* name)
if(eq(name, "SPOILER")) return ControlMap::SPOILER;
if(eq(name, "CASTERING")) return ControlMap::CASTERING;
if(eq(name, "PROPPITCH")) return ControlMap::PROPPITCH;
if(eq(name, "COLLECTIVE")) return ControlMap::COLLECTIVE;
if(eq(name, "CYCLICAIL")) return ControlMap::CYCLICAIL;
if(eq(name, "CYCLICELE")) return ControlMap::CYCLICELE;
if(eq(name, "ROTORENGINEON")) return ControlMap::ROTORENGINEON;
SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '"
<< name << "' in YASim aircraft description.");
exit(1);
@ -605,4 +752,11 @@ float FGFDM::attrf(XMLAttributes* atts, char* attr, float def)
else return (float)atof(val);
}
bool FGFDM::attristrue(XMLAttributes* atts, char* attr)
{
const char* val = atts->getValue(attr);
if(val == 0) return false;
else return eq(val,"true");
}
}; // namespace yasim

2
src/FDM/YASim/FGFDM.hpp
View file

@ -36,6 +36,7 @@ private:
void setOutputProperties();
Rotor* parseRotor(XMLAttributes* a, const char* name);
Wing* parseWing(XMLAttributes* a, const char* name);
int parseAxis(const char* name);
int parseOutput(const char* name);
@ -47,6 +48,7 @@ private:
int attri(XMLAttributes* atts, char* attr, int def);
float attrf(XMLAttributes* atts, char* attr);
float attrf(XMLAttributes* atts, char* attr, float def);
bool attristrue(XMLAttributes* atts, char* attr);
// The core Airplane object we manage.
Airplane _airplane;

3
src/FDM/YASim/Makefile.am
View file

@ -22,6 +22,9 @@ SHARED_SOURCES = \
PropEngine.cpp PropEngine.hpp \
Propeller.cpp Propeller.hpp \
RigidBody.cpp RigidBody.hpp \
Rotor.cpp Rotor.hpp \
Rotorblade.cpp Rotorblade.hpp \
Rotorpart.cpp Rotorpart.hpp \
SimpleJet.cpp SimpleJet.hpp \
Surface.cpp Surface.hpp \
Thruster.cpp Thruster.hpp \

26
src/FDM/YASim/Math.cpp
View file

@ -19,12 +19,26 @@ float Math::sqrt(float f)
{
return (float)::sqrt(f);
}
float Math::sqr(float f)
{
return f*f;
}
float Math::ceil(float f)
{
return (float)::ceil(f);
}
float Math::acos(float f)
{
return (float)::acos(f);
}
float Math::asin(float f)
{
return (float)::asin(f);
}
float Math::cos(float f)
{
return (float)::cos(f);
@ -40,6 +54,11 @@ float Math::tan(float f)
return (float)::tan(f);
}
float Math::atan(float f)
{
return (float)::atan(f);
}
float Math::atan2(float y, float x)
{
return (float)::atan2(y, x);
@ -126,7 +145,12 @@ float Math::mag3(float* v)
void Math::unit3(float* v, float* out)
{
float imag = 1/mag3(v);
float mag=mag3(v);
float imag;
if (mag!=0)
imag= 1/mag;
else
imag=1;
mul3(imag, v, out);
}

4
src/FDM/YASim/Math.hpp
View file

@ -12,11 +12,15 @@ public:
// Simple wrappers around library routines
static float abs(float f);
static float sqrt(float f);
static float sqr(float f);
static float ceil(float f);
static float sin(float f);
static float cos(float f);
static float tan(float f);
static float atan(float f);
static float atan2(float y, float x);
static float asin(float f);
static float acos(float f);
// Takes two args and runs afoul of the Koenig rules.
static float pow(double base, double exp);

106
src/FDM/YASim/Model.cpp
View file

@ -9,6 +9,9 @@
#include "PistonEngine.hpp"
#include "Gear.hpp"
#include "Surface.hpp"
#include "Rotor.hpp"
#include "Rotorpart.hpp"
#include "Rotorblade.hpp"
#include "Glue.hpp"
#include "Model.hpp"
@ -69,7 +72,7 @@ void Model::getThrust(float* out)
}
}
void Model::initIteration()
void Model::initIteration(float dt)
{
// Precompute torque and angular momentum for the thrusters
int i;
@ -93,11 +96,31 @@ void Model::initIteration()
t->getGyro(v);
Math::add3(v, _gyro, _gyro);
}
float lrot[3];
Math::vmul33(_s->orient, _s->rot, lrot);
Math::mul3(dt,lrot,lrot);
for(i=0; i<_rotors.size(); i++) {
Rotor* r = (Rotor*)_rotors.get(i);
r->inititeration(dt);
}
for(i=0; i<_rotorparts.size(); i++) {
Rotorpart* rp = (Rotorpart*)_rotorparts.get(i);
rp->inititeration(dt,lrot);
}
for(i=0; i<_rotorblades.size(); i++) {
Rotorblade* rp = (Rotorblade*)_rotorblades.get(i);
rp->inititeration(dt,lrot);
}
}
void Model::iterate()
void Model::iterate(float dt)
{
initIteration();
initIteration(dt);
_body.recalc(); // FIXME: amortize this, somehow
_integrator.calcNewInterval();
}
@ -122,6 +145,12 @@ State* Model::getState()
return _s;
}
void Model::resetState()
{
//_s->resetState();
}
void Model::setState(State* s)
{
_integrator.setState(s);
@ -143,6 +172,19 @@ Surface* Model::getSurface(int handle)
return (Surface*)_surfaces.get(handle);
}
Rotorpart* Model::getRotorpart(int handle)
{
return (Rotorpart*)_rotorparts.get(handle);
}
Rotorblade* Model::getRotorblade(int handle)
{
return (Rotorblade*)_rotorblades.get(handle);
}
Rotor* Model::getRotor(int handle)
{
return (Rotor*)_rotors.get(handle);
}
int Model::addThruster(Thruster* t)
{
return _thrusters.add(t);
@ -168,6 +210,19 @@ int Model::addSurface(Surface* surf)
return _surfaces.add(surf);
}
int Model::addRotorpart(Rotorpart* rpart)
{
return _rotorparts.add(rpart);
}
int Model::addRotorblade(Rotorblade* rblade)
{
return _rotorblades.add(rblade);
}
int Model::addRotor(Rotor* r)
{
return _rotors.add(r);
}
int Model::addGear(Gear* gear)
{
return _gears.add(gear);
@ -210,6 +265,7 @@ void Model::calcForces(State* s)
// velocity), and are therefore constant across the four calls to
// calcForces. They get computed before we begin the integration
// step.
//printf("f");
_body.setGyro(_gyro);
_body.addTorque(_torque);
int i;
@ -243,9 +299,53 @@ void Model::calcForces(State* s)
float force[3], torque[3];
sf->calcForce(vs, _rho, force, torque);
Math::add3(faero, force, faero);
_body.addForce(pos, force);
_body.addTorque(torque);
}
for(i=0; i<_rotorparts.size(); i++) {
Rotorpart* sf = (Rotorpart*)_rotorparts.get(i);
// Vsurf = wind - velocity + (rot cross (cg - pos))
float vs[3], pos[3];
sf->getPosition(pos);
localWind(pos, s, vs);
float force[3], torque[3];
sf->calcForce(vs, _rho, force, torque);
//Math::add3(faero, force, faero);
sf->getPositionForceAttac(pos);
_body.addForce(pos, force);
_body.addTorque(torque);
}
for(i=0; i<_rotorblades.size(); i++) {
Rotorblade* sf = (Rotorblade*)_rotorblades.get(i);
// Vsurf = wind - velocity + (rot cross (cg - pos))
float vs[3], pos[3];
sf->getPosition(pos);
localWind(pos, s, vs);
float force[3], torque[3];
sf->calcForce(vs, _rho, force, torque);
//Math::add3(faero, force, faero);
sf->getPositionForceAttac(pos);
_body.addForce(pos, force);
_body.addTorque(torque);
}
/*
{
float cg[3];
_body.getCG(cg);
//printf("cg: %5.3lf %5.3lf %5.3lf ",cg[0],cg[1],cg[2]);
}
*/
// Get a ground plane in local coordinates. The first three
// elements are the normal vector, the final one is the distance

18
src/FDM/YASim/Model.hpp
View file

@ -12,6 +12,9 @@ namespace yasim {
class Integrator;
class Thruster;
class Surface;
class Rotorpart;
class Rotorblade;
class Rotor;
class Gear;
class Model : public BodyEnvironment {
@ -24,24 +27,32 @@ public:
State* getState();
void setState(State* s);
void resetState();
bool isCrashed();
void setCrashed(bool crashed);
float getAGL();
void iterate();
void iterate(float dt);
// Externally-managed subcomponents
int addThruster(Thruster* t);
int addSurface(Surface* surf);
int addRotorpart(Rotorpart* rpart);
int addRotorblade(Rotorblade* rblade);
int addRotor(Rotor* rotor);
int addGear(Gear* gear);
Surface* getSurface(int handle);
Rotorpart* getRotorpart(int handle);
Rotorblade* getRotorblade(int handle);
Rotor* getRotor(int handle);
Gear* getGear(int handle);
// Semi-private methods for use by the Airplane solver.
int numThrusters();
Thruster* getThruster(int handle);
void setThruster(int handle, Thruster* t);
void initIteration();
void initIteration(float dt);
void getThrust(float* out);
//
@ -67,6 +78,9 @@ private:
Vector _thrusters;
Vector _surfaces;
Vector _rotorparts;
Vector _rotorblades;
Vector _rotors;
Vector _gears;
float _groundEffectSpan;

6
src/FDM/YASim/YASim.cxx
View file

@ -23,8 +23,9 @@
using namespace yasim;
static const float RAD2DEG = 180/3.14159265358979323846;
static const float PI2 = 3.14159265358979323846*2;
static const float YASIM_PI = 3.14159265358979323846;
static const float RAD2DEG = 180/YASIM_PI;
static const float PI2 = YASIM_PI*2;
static const float RAD2RPM = 9.54929658551;
static const float M2FT = 3.2808399;
static const float FT2M = 0.3048;
@ -127,7 +128,6 @@ void YASim::init()
// Superclass hook
common_init();
m->setCrashed(false);
// Figure out the initial speed type