hh65.cpp

UAV 自动驾驶的

/*****************************************************
 * $Id: hh65.cpp,v 2.0 2002/09/22 02:07:30 tramm Exp $
 * 
 * Models are converted from "Search and Rescue" v3d files
 * The graphics and 3d models in SAR are (C) 1999-2002 Taura Milana.
 *
 * Conversion by sar2gl, (c) Trammell Hudson
 *
 * More info:
 *
 *	http://autopilot.sourceforge.net/
 *
 */
// #$view1, 0.000000, 0.070000, 11.128000, -1.201819, -0.036350, 5.000000
// #$view1_bgimage 0.000000, 0.000000, 0.000000, 0.000000 none
// #$view2, -0.000000, 0.070000, 8.379999, -4.453238, -0.036350, 5.000000
// #$view2_bgimage 0.000000, 0.000000, 0.000000, 0.000000 none
// #$view3, -0.212068, 3.185365, 10.967001, -1.201819, -4.453238, 5.000000
// #$view3_bgimage 0.000000, 0.000000, 0.000000, 0.000000 none
// #$view4, 4.477356, 7.278946, 0.010000, 216.625584, 8.929856, 0.000000, 0.010000, 1000000.000000, 40.000000, 5.000000, 0.025000, 1 1, 0 1, 1
// #$light 0, 1 420.000000, 245.000000, 200.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 1.000000/1.000000/1.000000/1.000000, 1.000000/1.000000/1.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 1, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 2, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 3, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 4, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 5, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 6, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// #$light 7, 0 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000/0.000000/0.000000/1.000000, 0.000000, 180.000000, 1.000000, 0.000000, 0.000000
// begin_header
// texture_load hh65_fuselage_left textures/hh65/fuselage_left.tex 0.800000
// texture_load hh65_fuselage_right textures/hh65/fuselage_right.tex 0.800000
// texture_load hh65_tail_left textures/hh65/tail_left.tex 0.800000
// texture_load hh65_tail_right textures/hh65/tail_right.tex 0.800000
// texture_load hh65_wheel textures/hh65/wheel.tex 0.800000
// texture_load hh65_rotor textures/hh65/rotor.tex 0.800000
// end_header
// # HH-65 "Dolphin" Short Range Recovery Helicoper
// #
// #
// # Manufacturer: Aerospatiale
// # Rotor Diameter: 39' 2"
// # Height: 13'
// # Length: 44' 5"
// # Max Gross Weight: 9,200 pounds
// # Empty Weight: 6,092 pounds
// # Number Engines: 2
// # Propulsion Type: Lycoming LTS-101-750B-2 Gas Turbines
// # Fuel Capacity: 1,900 pounds
// # Max Endurance: 3.5 hours
// # Max Speed: 165 knots
// # Cruising Speed: 120 knots
// # Max Range: 300 nautical miles
// # Radius of Action: 150 nautical miles
// # Service Ceiling (Hover): 7,510 feet above sea level
// # Number of Pilots: 2
// # Number Flight Crew: 2
// # Number of Operational Aircraft: 80
// # Number of Storage or Support Aircraft: 14
// # Total Number of Aircraft: 94
// # Cargo Sling Capacity: 2,000 pounds
// # Rescue Hoist Capacity: 600 pounds
// #
// 
// name Aerospatiale HH-65 Dolphin
// 
// type 4
// 
// # Visable range in meters
// range 8000
// 
// # Far model display range in meters
// range_far 1000
// 
// # Crashabilities
// #           crash_other? cause_crash? support_surface? crash_type
// crash_flags 1, 0            0, 4 
// 
// # Contact bounds (in meters)
// #                   radius  h_min  h_max
// contact_cylendrical 6.5, -2.3, 1.8
// 
// # Belly to center height in meters
// belly_height 2.38
// 
// # Gear (down position) to belly height in meters
// gear_height 0.35
// 
// # Ground turning
// #              wheel_base_dist_m turn_vel_opt_mph turn_vel_max_mph
// ground_turning 4.0, 12.0, 80.0
// 
// # Attitude change rate (in degrees per second), specifies the
// # control sensitivity.
// #                     h    p    b
// attitude_change_rate  27.0, 18.0, 40.0
// 
// # Acceleration responsiveness, higher values produce less
// # responsiveness.
// #                      i        j       k
// helicopter_accelresp   4000.0, 2900.0, 1200.0
// airplane_accelresp    14000.0, 10000.0, 3.0
// 
// # Dry mass in kg
// dry_mass 2763.28
// 
// # Fuel capacity and efficiency. For the consumption_rate we just use
// # the equation (fuel_max_kg / max_endurance_time_in_seconds /
// # avg_throttle_coeff), where avg_throttle_coeff is the average throttle
// # value (ie 0.8 for most cases).
// #
// #    consumption_rate(kg/sec)  initial_kg  max_kg
// fuel 0.085498, 861.82, 861.82
// 
// # Engine settings
// #      can_pitch? initial_pitched? power   collective_range
// engine 0, 0                50000.0, 0.95
// 
// # Engine sounds
// engine_inside_sound sounds/helicopter_engine_inside.wav
// engine_outside_sound sounds/helicopter_engine_outside.wav
// 
// # Speed bounds (all in mph)
// #     speed_stall  speed_max  speed_max_expected  min_drag
// speed 80.0, 35000.0, 165.0, 1.1
// 
// # Attitude leveling in degrees per second
// #                 h   p   b
// attitude_leveling 0.0, 1.1, 1.5
// 
// # Service ceiling in feet (about 4 times the actual value)
// service_ceiling 19000.0
// 
// # Hoist position and values
// #     offset_xyz     rope_max_m rope_rate_m/c  capacity_kg  contact_r zmin zmax
// hoist 1.58, 2.7, -0.13, 50, 2.5, 270, 0.8, 0.0, 1.4
// 
// # Crew and capacity
// #    crew  passengers passengers_max
// crew 4, 0          4
// 
// # Shade model using smooth ground shading when defined
// shade_model_smooth
// 
// # ######################################################################
// # Begin creating standard model
// 
void do_standard_0( void )
{
// #$model_flags 
// # Interior floor
glBegin( GL_QUADS );
 do_color( 0.500000, 0.500000, 0.500000, 1.000000, 1.000000, 1.000000, 0.500000, 0.300000, 0.000000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( -1.000000, -0.600000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( -1.000000, 4.500000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( 1.000000, 4.500000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( 1.000000, -0.600000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( 1.000000, 1.800000, -2.000000 );
	glVertex3f( 1.000000, 3.600000, -2.000000 );
	glVertex3f( 1.100000, 3.600000, -2.000000 );
	glVertex3f( 1.100000, 1.800000, -2.000000 );
glEnd();
// # Interior nose
glBegin( GL_QUADS );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( -0.850000, 5.200000, -1.900000 );
	glVertex3f( 0.000000, 5.200000, -1.900000 );
	glVertex3f( 0.000000, 4.500000, -2.000000 );
	glVertex3f( -1.000000, 4.500000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( 1.000000, 4.500000, -2.000000 );
	glVertex3f( 0.000000, 4.500000, -2.000000 );
	glVertex3f( 0.000000, 5.200000, -1.900000 );
	glVertex3f( 0.850000, 5.200000, -1.900000 );
	glNormal3f( 0.000000, -0.200000, -0.800000 );
	glVertex3f( 0.000000, 4.600000, -1.300000 );
	glVertex3f( 0.000000, 5.200000, -1.450000 );
	glVertex3f( -0.297000, 5.200000, -1.505000 );
	glVertex3f( -0.371000, 4.600000, -1.337000 );
	glNormal3f( 0.000000, -0.200000, -0.800000 );
	glVertex3f( 0.371000, 4.600000, -1.337000 );
	glVertex3f( 0.297000, 5.200000, -1.505000 );
	glVertex3f( 0.000000, 5.200000, -1.450000 );
	glVertex3f( 0.000000, 4.600000, -1.300000 );
	glNormal3f( 0.000000, -1.000000, 0.000000 );
	glVertex3f( -0.850000, 5.200000, -1.600000 );
	glVertex3f( 0.000000, 5.200000, -1.450000 );
	glVertex3f( 0.000000, 5.200000, -1.900000 );
	glVertex3f( -0.850000, 5.200000, -1.900000 );
	glNormal3f( 0.000000, -1.000000, 0.000000 );
	glVertex3f( 0.850000, 5.200000, -1.900000 );
	glVertex3f( 0.000000, 5.200000, -1.900000 );
	glVertex3f( 0.000000, 5.200000, -1.450000 );
	glVertex3f( 0.850000, 5.200000, -1.600000 );
glEnd();
// # Interior left side walls
 do_color( 0.530000, 0.520000, 0.500000, 1.000000, 1.000000, 1.000000, 0.500000, 0.500000, 0.000000 );
glBegin( GL_QUADS );
	glNormal3f( 0.977358, -0.159732, 0.138767 );
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	glVertex3f( -1.100000, 4.600000, -2.100000 );
	glNormal3f( 0.908000, -0.139000, 0.396000 );
	glVertex3f( -1.100000, 4.200000, -2.100000 );
	glNormal3f( 0.980000, -0.139000, 0.139000 );
	glVertex3f( -1.100000, 4.200000, -2.000000 );
	glNormal3f( 0.926877, -0.059927, 0.370551 );
	glVertex3f( -1.100000, 3.550000, -2.100000 );
	glNormal3f( 0.928477, 0.000000, 0.371391 );
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	glNormal3f( 0.995000, 0.000000, 0.050000 );
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	glNormal3f( 0.957000, 0.000000, 0.289000 );
	glVertex3f( -1.110000, 2.000000, -2.000000 );
	glNormal3f( 0.957302, 0.000000, 0.289091 );
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