73 lines
2 KiB
C++
73 lines
2 KiB
C++
#ifndef _LAUNCHBAR_HPP
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#define _LAUNCHBAR_HPP
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namespace yasim {
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class Ground;
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class RigidBody;
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struct State;
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// A launchbar has the following parameters:
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//
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// position: a point in the aircraft's local coordinate system where the
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// fully-extended wheel will be found.
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//
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class Launchbar {
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public:
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enum LBState { Arrested, Launch, Unmounted };
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Launchbar();
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// Externally set values
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void setLaunchbarMount(float* position);
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void setHoldbackMount(float* position);
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void setLength(float length);
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void setDownAngle(float ang);
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void setUpAngle(float ang);
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void setExtension(float extension);
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void setLaunchCmd(bool cmd);
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void setGlobalGround(double *global_ground);
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void getLaunchbarMount(float* out);
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void getHoldbackMount(float* out);
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float getLength(void);
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float getDownAngle(void);
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float getUpAngle(void);
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float getExtension(void);
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void getTipPosition(float* out);
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void getTipGlobalPosition(State* s, double* out);
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float getPercentPosOnCat(float* lpos, float off, float lends[2][3]);
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void getPosOnCat(float perc, float* lpos, float* lvel,
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float lends[2][3], float lendvels[2][3]);
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// Takes a velocity of the aircraft relative to ground, a rotation
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// vector, and a ground plane (all specified in local coordinates)
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// and make a force and point of application (i.e. ground contact)
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// available via getForce().
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void calcForce(Ground *g_cb, RigidBody* body, State* s, float* lv, float* lrot);
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// Computed values: total force, weight-on-wheels (force normal to
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// ground) and compression fraction.
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void getForce(float* force, float* off);
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float getCompressFraction(void);
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private:
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float _launchbar_mount[3];
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float _holdback_mount[3];
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float _length;
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float _holdback_length;
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float _down_ang;
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float _up_ang;
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float _extension;
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float _force[3];
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float _frac;
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float _pos_on_cat;
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bool _launch_cmd;
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double _global_ground[4];
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LBState _state;
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};
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}; // namespace yasim
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#endif // _LAUNCHBAR_HPP
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