Integrate the latest terrain handling code
This commit is contained in:
Erik Hofman
parent
b7a9aee796
commit
7bdd1d617d
6 changed files with 146 additions and 82 deletions
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@ -73,14 +73,10 @@ CLASS DECLARATION
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extern std::string& to_lower(std::string& str);
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extern bool is_number(const std::string& str);
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std::vector <std::string> split(std::string str, char d);
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// libc++ has these as built-ins for all C++ language versions
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#if !defined(_LIBCPP_VERSION)
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/* Comment out to_string functions when they are defined already - C++ 11 defines these */
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extern std::string to_string(int);
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extern std::string to_string(double);
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extern std::string to_string(float);
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#endif
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extern std::string replace(std::string str, const std::string& old, const std::string& newstr);
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#else
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#include <cctype>
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@ -49,14 +49,16 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGGroundReactions.cpp,v 1.47 2014/01/13 10:46:07 ehofman Exp $");
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IDENT(IdSrc,"$Id: FGGroundReactions.cpp,v 1.49 2014/01/28 09:42:21 ehofman Exp $");
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IDENT(IdHdr,ID_GROUNDREACTIONS);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
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FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) :
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FGModel(fgex),
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FGSurface(fgex)
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{
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Name = "FGGroundReactions";
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@ -261,6 +263,9 @@ string FGGroundReactions::GetGroundReactionValues(string delimeter) const
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void FGGroundReactions::bind(void)
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{
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eSurfaceType = ctGROUND;
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FGSurface::bind();
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PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
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PropertyManager->Tie("gear/wow", this, &FGGroundReactions::GetWOW);
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}
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@ -62,7 +62,7 @@ DEFINITIONS
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GLOBAL DATA
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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IDENT(IdSrc,"$Id: FGLGear.cpp,v 1.111 2014/01/16 14:00:30 ehofman Exp $");
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IDENT(IdSrc,"$Id: FGLGear.cpp,v 1.114 2014/01/28 09:42:21 ehofman Exp $");
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IDENT(IdHdr,ID_LGEAR);
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// Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
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@ -75,6 +75,7 @@ CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number, const struct Inputs& inputs) :
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FGSurface(fdmex, number),
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FGForce(fdmex),
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in(inputs),
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GearNumber(number),
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@ -286,12 +287,12 @@ const FGColumnVector3& FGLGear::GetBodyForces(FGSurface *surface)
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// not compressed) with respect to the ground level
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double height = gearLoc.GetContactPoint(t, contact, normal, terrainVel, dummy);
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double maxForce = DBL_MAX;
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bool isSolid = true;
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// Does this surface contact point interact with another surface?
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if (surface) {
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height -= (*surface).GetBumpHeight();
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frictionFactor = (*surface).GetFrictionFactor();
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maxForce = (*surface).GetMaximumForce();
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staticFFactor = (*surface).GetStaticFFactor();
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rollingFFactor = (*surface).GetRollingFFactor();
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maximumForce = (*surface).GetMaximumForce();
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isSolid = (*surface).GetSolid();
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}
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@ -315,7 +316,7 @@ const FGColumnVector3& FGLGear::GetBodyForces(FGSurface *surface)
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compressLength = LGearProj > 0.0 ? height * normalZ / LGearProj : 0.0;
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vWhlDisplVec = mTGear * FGColumnVector3(0., 0., -compressLength);
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} else {
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// Gears don't (or hardly) compress is liquids
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// Gears don't (or hardly) compress in liquids
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compressLength = 0.0;
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vWhlDisplVec = 0.0 * vGroundNormal;
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}
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@ -353,7 +354,7 @@ const FGColumnVector3& FGLGear::GetBodyForces(FGSurface *surface)
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compressSpeed /= LGearProj;
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}
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ComputeVerticalStrutForce(maxForce);
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ComputeVerticalStrutForce();
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// Compute the friction coefficients in the wheel ground plane.
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if (eContactType == ctBOGEY) {
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@ -575,10 +576,10 @@ void FGLGear::CrashDetect(void)
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void FGLGear::ComputeBrakeForceCoefficient(void)
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{
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BrakeFCoeff = frictionFactor * rollingFCoeff;
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BrakeFCoeff = rollingFFactor * rollingFCoeff;
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if (eBrakeGrp != bgNone)
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BrakeFCoeff += in.BrakePos[eBrakeGrp] * frictionFactor * (staticFCoeff - rollingFCoeff);
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BrakeFCoeff += in.BrakePos[eBrakeGrp] * staticFFactor * (staticFCoeff - rollingFCoeff);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -599,7 +600,7 @@ void FGLGear::ComputeSideForceCoefficient(void)
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double StiffSlip = Stiffness*WheelSlip;
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FCoeff = Peak * sin(Shape*atan(StiffSlip - Curvature*(StiffSlip - atan(StiffSlip))));
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}
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FCoeff *= frictionFactor;
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FCoeff *= staticFFactor;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -609,7 +610,7 @@ void FGLGear::ComputeSideForceCoefficient(void)
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// possibly give a "rebound damping factor" that differs from the compression
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// case.
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void FGLGear::ComputeVerticalStrutForce(double maxForce)
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void FGLGear::ComputeVerticalStrutForce()
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{
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double springForce = 0;
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double dampForce = 0;
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@ -636,8 +637,8 @@ void FGLGear::ComputeVerticalStrutForce(double maxForce)
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}
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StrutForce = min(springForce + dampForce, (double)0.0);
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if (StrutForce > maxForce) {
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StrutForce = maxForce;
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if (StrutForce > maximumForce) {
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StrutForce = maximumForce;
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compressLength = -StrutForce / kSpring;
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}
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}
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@ -691,7 +692,7 @@ void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
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LMultiplier[ftDynamic].ForceJacobian = mT * velocityDirection;
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LMultiplier[ftDynamic].MomentJacobian = vWhlContactVec * LMultiplier[ftDynamic].ForceJacobian;
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LMultiplier[ftDynamic].Max = 0.;
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LMultiplier[ftDynamic].Min = -fabs(frictionFactor * dynamicFCoeff * vFn(eZ));
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LMultiplier[ftDynamic].Min = -fabs(staticFFactor * dynamicFCoeff * vFn(eZ));
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// The Lagrange multiplier value obtained from the previous iteration is kept
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// This is supposed to accelerate the convergence of the projected Gauss-Seidel
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@ -719,7 +720,7 @@ void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
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LMultiplier[ftSide].Max = fabs(FCoeff * vFn(eZ));
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break;
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case ctSTRUCTURE:
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LMultiplier[ftRoll].Max = fabs(staticFCoeff * vFn(eZ));
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LMultiplier[ftRoll].Max = fabs(staticFFactor * staticFCoeff * vFn(eZ));
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LMultiplier[ftSide].Max = LMultiplier[ftRoll].Max;
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break;
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}
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@ -773,14 +774,17 @@ void FGLGear::bind(void)
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switch(eContactType) {
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case ctBOGEY:
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eSurfaceType = FGSurface::ctBOGEY;
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base_property_name = CreateIndexedPropertyName("gear/unit", GearNumber);
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break;
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case ctSTRUCTURE:
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eSurfaceType = FGSurface::ctSTRUCTURE;
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base_property_name = CreateIndexedPropertyName("contact/unit", GearNumber);
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break;
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default:
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return;
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}
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FGSurface::bind();
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property_name = base_property_name + "/WOW";
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PropertyManager->Tie( property_name.c_str(), &WOW );
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@ -49,7 +49,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_LGEAR "$Id: FGLGear.h,v 1.61 2014/01/16 14:00:42 ehofman Exp $"
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#define ID_LGEAR "$Id: FGLGear.h,v 1.64 2014/01/28 09:42:21 ehofman Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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@ -178,7 +178,7 @@ CLASS DOCUMENTATION
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</contact>
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@endcode
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@author Jon S. Berndt
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@version $Id: FGLGear.h,v 1.61 2014/01/16 14:00:42 ehofman Exp $
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@version $Id: FGLGear.h,v 1.64 2014/01/28 09:42:21 ehofman Exp $
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@see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
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NASA-Ames", NASA CR-2497, January 1975
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@see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
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@ -191,7 +191,7 @@ CLASS DOCUMENTATION
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGLGear : public FGForce, protected FGSurface
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class FGLGear : protected FGSurface, public FGForce
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{
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public:
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struct Inputs {
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@ -237,7 +237,9 @@ public:
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/// Destructor
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~FGLGear();
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/// The Force vector for this gear
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/** The Force vector for this gear
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@param surface another surface to interact with, set to NULL for none.
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*/
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const FGColumnVector3& GetBodyForces(FGSurface *surface = NULL);
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/// Gets the location of the gear in Body axes
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@ -334,6 +336,7 @@ private:
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double bDampRebound;
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double compressLength;
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double compressSpeed;
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double rollingFCoeff;
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double Stiffness, Shape, Peak, Curvature; // Pacejka factors
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double BrakeFCoeff;
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double maxCompLen;
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@ -377,7 +380,7 @@ private:
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void ComputeSteeringAngle(void);
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void ComputeSlipAngle(void);
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void ComputeSideForceCoefficient(void);
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void ComputeVerticalStrutForce(double maxForce = DBL_MAX);
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void ComputeVerticalStrutForce(void);
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void ComputeGroundFrame(void);
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void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
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void UpdateForces(void);
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@ -38,13 +38,14 @@ HISTORY
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGSurface.h"
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#include "input_output/FGPropertyManager.h"
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#include "models/FGSurface.h"
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using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGSurface.cpp,v 1.2 2014/01/16 12:31:50 ehofman Exp $");
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IDENT(IdSrc,"$Id: FGSurface.cpp,v 1.5 2014/01/28 09:42:21 ehofman Exp $");
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IDENT(IdHdr,ID_SURFACE);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -55,22 +56,12 @@ GLOBAL DECLARATIONS
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGSurface::FGSurface()
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FGSurface::FGSurface(FGFDMExec* fdmex, int number) :
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contactNumber(number)
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{
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frictionFactor = 1.0;
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rollingFCoeff = 0.02;
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MaximumForce = DBL_MAX;
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bumpiness = 0.0;
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isSolid = true;
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}
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FGSurface::FGSurface(FGFDMExec* fdmex)
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{
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frictionFactor = 1.0;
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rollingFCoeff = 0.02;
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MaximumForce = DBL_MAX;
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bumpiness = 0.0;
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isSolid = true;
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eSurfaceType = ctBOGEY;
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_PropertyManager = fdmex->GetPropertyManager();
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resetValues();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -81,6 +72,52 @@ FGSurface::~FGSurface()
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGSurface::resetValues(void)
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{
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staticFFactor = 1.0;
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rollingFFactor = 1.0;
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maximumForce = DBL_MAX;
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bumpiness = 0.0;
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isSolid = true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGSurface::bind(void)
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{
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if (!_PropertyManager) return;
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string base_property_name;
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string property_name;
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switch(eSurfaceType) {
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case ctBOGEY:
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base_property_name = _CreateIndexedPropertyName("gear/unit", contactNumber);
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break;
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case ctSTRUCTURE:
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base_property_name = _CreateIndexedPropertyName("contact/unit", contactNumber);
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break;
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case ctGROUND:
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base_property_name = "ground";
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break;
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default:
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return;
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}
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property_name = base_property_name + "/solid";
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_PropertyManager->Tie( property_name.c_str(), &isSolid);
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property_name = base_property_name + "/bumpiness";
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_PropertyManager->Tie( property_name.c_str(), &bumpiness);
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property_name = base_property_name + "/maximum-force-lbs";
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_PropertyManager->Tie( property_name.c_str(), &maximumForce);
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property_name = base_property_name + "/rolling_friction-factor";
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_PropertyManager->Tie( property_name.c_str(), &rollingFFactor);
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property_name = base_property_name + "/static-friction-factor";
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_PropertyManager->Tie( property_name.c_str(), &staticFFactor);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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float FGSurface::GetBumpHeight()
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{
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if (bumpiness < 0.001) return 0.0f;
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@ -105,15 +142,24 @@ float FGSurface::GetBumpHeight()
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGSurface::_CreateIndexedPropertyName(const string& Property, int index)
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{
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std::ostringstream buf;
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buf << Property << '[' << index << ']';
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return buf.str();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGSurface::GetSurfaceStrings(string delimeter) const
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{
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std::ostringstream buf;
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buf << "FrictionFactor" << delimeter
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<< "RollingFriction" << delimeter
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<< "MaximumForce" << delimeter
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<< "Bumpiness" << delimeter
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<< "IsSolid";
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buf << "staticFFactor" << delimeter
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<< "rollingFFactor" << delimeter
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<< "maximumForce" << delimeter
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<< "bumpiness" << delimeter
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<< "isSolid";
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return buf.str();
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}
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@ -124,14 +170,15 @@ string FGSurface::GetSurfaceValues(string delimeter) const
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{
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std::ostringstream buf;
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buf << GetFrictionFactor() << delimeter
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<< GetRollingFriction() << delimeter
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<< GetMaximumForce() << delimeter
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<< GetBumpiness() << delimeter
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<< (GetSolid() ? "1" : "0");
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buf << staticFFactor << delimeter
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<< rollingFFactor << delimeter
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<< maximumForce << delimeter
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<< bumpiness << delimeter
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<< (isSolid ? "1" : "0");
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return buf.str();
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}
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}
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} // namespace JSBSim
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@ -44,7 +44,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_SURFACE "$Id: FGSurface.h,v 1.2 2014/01/16 12:31:50 ehofman Exp $"
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#define ID_SURFACE "$Id: FGSurface.h,v 1.5 2014/01/28 09:42:21 ehofman Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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@ -68,21 +68,29 @@ class FGSurface
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{
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public:
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/// Constructor
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FGSurface();
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enum ContactType {ctBOGEY, ctSTRUCTURE, ctGROUND};
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/// Constructor
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FGSurface(FGFDMExec* fdmex);
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FGSurface(FGFDMExec* fdmex, int number = -1);
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/// Destructor
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~FGSurface();
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/// Sets the friction factor of the surface area
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void SetFrictionFactor(double friction) { frictionFactor = friction; }
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void bind(void);
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/// Sets the load capacity of the surface area
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void SetMaximumForce(double force ) { MaximumForce = force; }
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/// Reset all surface values to a default
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void resetValues(void);
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/// Sets the bumpiness factor associated with the surface
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/// Sets the static friction factor of the surface area
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void SetStaticFFactor(double friction) { staticFFactor = friction; }
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/// Sets the rolling friction factor of the surface area
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void SetRollingFFactor(double friction) { rollingFFactor = friction; }
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/// Sets the maximum force for the surface area
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void SetMaximumForce(double force) { maximumForce = force; }
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/// Sets the normalized bumpiness factor associated with the surface
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void SetBumpiness(double bump) { bumpiness = bump; }
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/// Sets the surface is a solid flag value
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@ -94,26 +102,20 @@ public:
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}
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/// Gets the friction factor of the surface area
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double GetFrictionFactor(void) const { return frictionFactor; }
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/// Gets the static friction factor of the surface area
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double GetStaticFFactor(void) { return staticFFactor; }
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/// Gets the rolling friction of the surface area
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||||
double GetRollingFriction(void) const { return rollingFCoeff; }
|
||||
/// Gets the rolling friction factor of the surface area
|
||||
double GetRollingFFactor(void) { return rollingFFactor; }
|
||||
|
||||
/// Gets the static friction of the surface area
|
||||
double GetStaticFriction(void) const { return staticFCoeff; }
|
||||
/// Gets the maximum force of the surface area
|
||||
double GetMaximumForce(void) { return maximumForce; }
|
||||
|
||||
/// Gets the dynamic friction of the surface area
|
||||
double GetDynamicFriction(void) const { return dynamicFCoeff; }
|
||||
|
||||
/// Gets the maximum force for this surface point
|
||||
double GetMaximumForce(void) const { return MaximumForce; }
|
||||
|
||||
/// Gets the bumpiness factor associated with the surface
|
||||
double GetBumpiness(void) const { return bumpiness; }
|
||||
/// Gets the normalized bumpiness factor associated with the surface
|
||||
double GetBumpiness(void) { return bumpiness; }
|
||||
|
||||
/// Gets the surface is a solid flag value
|
||||
bool GetSolid(void) const { return isSolid; }
|
||||
bool GetSolid(void) { return isSolid; }
|
||||
|
||||
/// Returns the height of the bump at the provided offset
|
||||
float GetBumpHeight();
|
||||
|
|
@ -122,14 +124,21 @@ public:
|
|||
std::string GetSurfaceValues(std::string delimeter) const;
|
||||
|
||||
protected:
|
||||
double staticFCoeff, dynamicFCoeff, rollingFCoeff;
|
||||
double frictionFactor;
|
||||
double MaximumForce;
|
||||
ContactType eSurfaceType;
|
||||
double staticFFactor, rollingFFactor;
|
||||
double maximumForce;
|
||||
double bumpiness;
|
||||
bool isSolid;
|
||||
|
||||
double staticFCoeff, dynamicFCoeff;
|
||||
|
||||
private:
|
||||
int contactNumber;
|
||||
double pos[3];
|
||||
|
||||
FGPropertyManager* _PropertyManager;
|
||||
|
||||
static std::string _CreateIndexedPropertyName(const std::string& Property, int index);
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue