68 lines
1.7 KiB
C++
68 lines
1.7 KiB
C++
#ifndef _HOOK_HPP
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#define _HOOK_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 landing hook 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 Hook {
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public:
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Hook();
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// Externally set values
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void setPosition(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 setGlobalGround(double *global_ground);
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void getPosition(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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// 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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float getAngle(void);
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float getHookPos(int i);
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private:
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float _pos[3];
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float _length;
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float _down_ang;
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float _up_ang;
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float _ang;
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float _extension;
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float _force[3];
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float _frac;
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bool _has_wire;
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double _old_mount[3];
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double _old_tip[3];
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double _global_ground[4];
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};
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}; // namespace yasim
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#endif // _HOOK_HPP
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