5b84ae51a5
Dynamics (Sim)ulator. Basically, this is a rough, first cut of a "different take" on FDM design. It's intended to be very simple to use, producing reasonable results for aircraft of all sorts and sizes, while maintaining simulation plausibility even in odd flight conditions like spins and aerobatics. It's at the point now where one can actually fly the planes around.
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
#ifndef _INTEGRATOR_HPP
|
|
#define _INTEGRATOR_HPP
|
|
|
|
#include "BodyEnvironment.hpp"
|
|
#include "RigidBody.hpp"
|
|
|
|
namespace yasim {
|
|
|
|
//
|
|
// These objects are responsible for extracting force data from a
|
|
// BodyEnvironment object, using a RigidBody object to calculate
|
|
// accelerations, and then tying that all together into a new
|
|
// "solution" of position/orientation/etc... for the body. The method
|
|
// used is a fourth-order Runge-Kutta integration.
|
|
//
|
|
class Integrator
|
|
{
|
|
public:
|
|
// Sets the RigidBody that will be integrated.
|
|
void setBody(RigidBody* body);
|
|
|
|
// Sets the BodyEnvironment object used to calculate the second
|
|
// derivatives.
|
|
void setEnvironment(BodyEnvironment* env);
|
|
|
|
// Sets the time interval between steps. Units can be anything,
|
|
// but they must match the other values (if you specify speed in
|
|
// m/s, then angular acceleration had better be in 1/s^2 and the
|
|
// time interval should be in seconds, etc...)
|
|
void setInterval(float dt);
|
|
float getInterval();
|
|
|
|
// The current state, i.e. initial conditions for the next
|
|
// integration iteration. Note that the acceleration parameters
|
|
// in the State object are ignored.
|
|
State* getState();
|
|
void setState(State* s);
|
|
|
|
// Do a 4th order Runge-Kutta integration over one time interval.
|
|
// This is the top level of the simulation.
|
|
void calcNewInterval();
|
|
|
|
private:
|
|
void orthonormalize(float* m);
|
|
void rotMatrix(float* r, float dt, float* out);
|
|
void l2gVector(float* orient, float* v, float* out);
|
|
void extrapolatePosition(double* pos, float* v, float dt,
|
|
float* o1, float* o2);
|
|
|
|
BodyEnvironment* _env;
|
|
RigidBody* _body;
|
|
float _dt;
|
|
|
|
State _s;
|
|
};
|
|
|
|
}; // namespace yasim
|
|
#endif // _INTEGRATOR_HPP
|