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Export "rollspeed-ms" and "caster-angle-deg" properties for gear

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objects.  Josh Babcock wanted these for the B-29 model so he can
properly animate the gear.
This commit is contained in:
andy 2005-04-08 20:46:43 +00:00
parent d28e99d913
commit 7eb194b3f8
3 changed files with 17 additions and 4 deletions
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13
src/FDM/YASim/Gear.cpp
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@ -230,10 +230,6 @@ void Gear::calcForce(RigidBody* body, State *s, float* v, float* rot)
_wow = (fmag - damp) * -Math::dot3(cmpr, ground); _wow = (fmag - damp) * -Math::dot3(cmpr, ground);
Math::mul3(-_wow, ground, _force); Math::mul3(-_wow, ground, _force);
// Castering gear feel no force in the ground plane
if(_castering)
return;
// Wheels are funky. Split the velocity along the ground plane // Wheels are funky. Split the velocity along the ground plane
// into rolling and skidding components. Assuming small angles, // into rolling and skidding components. Assuming small angles,
// we generate "forward" and "left" unit vectors (the compression // we generate "forward" and "left" unit vectors (the compression
@ -272,6 +268,15 @@ void Gear::calcForce(RigidBody* body, State *s, float* v, float* rot)
float vskid = Math::dot3(cv, skid); float vskid = Math::dot3(cv, skid);
float wgt = Math::dot3(_force, gup); // force into the ground float wgt = Math::dot3(_force, gup); // force into the ground
if(_castering) {
_rollSpeed = Math::sqrt(vsteer*vsteer + vskid*vskid);
_casterAngle = Math::atan2(vskid, vsteer);
return;
} else {
_rollSpeed = vsteer;
_casterAngle = 0;
}
float fsteer = _brake * calcFriction(wgt, vsteer); float fsteer = _brake * calcFriction(wgt, vsteer);
float fskid = calcFriction(wgt, vskid); float fskid = calcFriction(wgt, vskid);
if(vsteer > 0) fsteer = -fsteer; if(vsteer > 0) fsteer = -fsteer;

4
src/FDM/YASim/Gear.hpp
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@ -52,6 +52,8 @@ public:
float getRotation(); float getRotation();
float getExtension(); float getExtension();
bool getCastering(); bool getCastering();
float getCasterAngle() { return _casterAngle; }
float getRollSpeed() { return _rollSpeed; }
// Takes a velocity of the aircraft relative to ground, a rotation // Takes a velocity of the aircraft relative to ground, a rotation
// vector, and a ground plane (all specified in local coordinates) // vector, and a ground plane (all specified in local coordinates)
@ -84,6 +86,8 @@ private:
float _frac; float _frac;
double _global_ground[4]; double _global_ground[4];
float _global_vel[3]; float _global_vel[3];
float _casterAngle;
float _rollSpeed;
}; };
}; // namespace yasim }; // namespace yasim

4
src/FDM/YASim/YASim.cxx
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@ -24,6 +24,8 @@
#include "YASim.hxx" #include "YASim.hxx"
#include <fenv.h> // SIGFPE DEBUG
using namespace yasim; using namespace yasim;
static const float YASIM_PI = 3.14159265358979323846; static const float YASIM_PI = 3.14159265358979323846;
@ -459,6 +461,8 @@ void YASim::copyFromYASim()
node->setBoolValue("has-brake", g->getBrake() != 0); node->setBoolValue("has-brake", g->getBrake() != 0);
node->setBoolValue("wow", g->getCompressFraction() != 0); node->setBoolValue("wow", g->getCompressFraction() != 0);
node->setFloatValue("compression-norm", g->getCompressFraction()); node->setFloatValue("compression-norm", g->getCompressFraction());
node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
node->setFloatValue("rollspeed-ms", g->getRollSpeed());
} }
Hook* h = airplane->getHook(); Hook* h = airplane->getHook();