hh60.cpp

UAV 自动驾驶的

/*****************************************************
 * $Id: hh60.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/
 *
 */
// #$view1, -0.015737, -0.850883, 5.323003, 0.299378, 1.184132, 5.000000
// #$view1_bgimage 0.000000, 0.000000, 0.000000, 0.000000 none
// #$view2, 0.979952, 0.280000, 2.631191, -8.532010, 1.184132, 5.000000
// #$view2_bgimage 0.000000, 0.000000, 0.000000, 0.000000 none
// #$view3, -0.295076, -2.587229, 8.570792, 0.299378, -8.532010, 5.000000
// #$view3_bgimage 0.000000, 0.000000, 0.000000, 0.000000 none
// #$view4, 7.222062, 2.022788, -0.560000, 236.540792, 5.000000, 0.000000, 0.050000, 100000.000000, 40.000000, 5.000000, 0.060000, 1 1, 0 1, 1
// #$light 0, 0 -4.378000, 3.715000, 40.000000, 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_base_directory /usr/share/games/SearchAndRescue/
// texture_load hh60_fuselage_bottom textures/hh60/fuselage_bottom.tex 0.800000
// texture_load hh60_fuselage_left textures/hh60/fuselage_left.tex 0.800000
// texture_load hh60_fuselage_right textures/hh60/fuselage_right.tex 0.800000
// texture_load hh60_engine_left textures/hh60/engine_left.tex 0.800000
// texture_load hh60_engine_right textures/hh60/engine_right.tex 0.800000
// texture_load hh60_tail_left_tex textures/hh60/tail_left.tex 0.700000
// texture_load hh60_wheel textures/hh60/wheel.tex 0.800000
// end_header
// # Sikorsky HH-60 Jayhawk
// #
// # Manufacturer: Sikorsky
// # Rotor Diameter: 54'
// # Height: 17'
// # Length: 65'
// # Max Gross Weight: 21,884 pounds
// # Empty Weight: 14,500 pounds
// # Number Engines: 2
// # Propulsion Type: General Electric T700-401C Gas Turbines
// # Fuel Capacity: 6,460 pounds (inc 2 removeable tanks, each 230 gallons)
// # (Note gallons * 3.785412 * (density_coeff) = kg)
// # Max Endurance: 7 hours
// # Max Speed: 180 knots
// # Cruising Speed: 140 knots
// # Max Range: 700 nautical miles
// # Radius of Action: 300 nautical miles
// # Service Ceiling (Hover): 5,000 feet above sea level
// # Number of Pilots: 2
// # Number Flight Crew: 2
// # Cargo Sling Capacity: 6,000 pounds
// # Rescue Hoist Capacity: 600 pounds
// 
// name Sikorsky HH-60 Jayhawk
// 
// 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 8.0, -2.2, 0.9
// 
// # Belly to center height in meters
// belly_height 2.2
// 
// # Gear (down position) to belly height in meters
// gear_height 0.5
// 
// # Ground turning
// #              wheel_base_dist_m turn_vel_opt_mph turn_vel_max_mph
// ground_turning 6.0, 16.0, 60.0
// 
// # Attitude change rate (in degrees per second), specifies the
// # control sensitivity.
// #                     h    p    b
// attitude_change_rate  22.0, 12.0, 30.0
// 
// # Acceleration responsiveness, higher values produce less
// # responsiveness.
// #                      i        j       k
// helicopter_accelresp   4200.0, 3000.0, 1800.0
// airplane_accelresp    15000.0, 12000.0, 3.0
// 
// # Dry mass in kg
// dry_mass 6577.0
// 
// # 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).
// #
// # Total fuel capacity is 6460 lbs (2930 kg), note that we reduce 2 * 1000
// # lbs (2 * 453.6 kg = 907.2 kg) for the two extra fuel tanks. So 2930 kg -
// # 907.2 kg is 2022.8 kg.
// #
// #    consumption_rate(kg/sec)  initial_kg  max_kg
// fuel 0.145337, 2022.8, 2022.8
// 
// # Engine settings
// #      can_pitch? initially_pitched_level? power    collective_range
// engine 0, 0                        112700.0, 0.98
// 
// # 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 90.0, 39000.0, 180.0, 1.6
// 
// # Attitude leveling in degrees per second
// #                 h   p   b
// attitude_leveling 0.0, 1.0, 1.2
// 
// # Service ceiling in feet (about 4 times the actual value).
// service_ceiling 16500.0
// 
// # Hoist position and values
// #     offset_xyz    rope_max_m rope_rate_m/c  capacity_kg  contact_r zmin zmax
// hoist 1.8, 0.7, -0.3, 50, 2.5, 270, 0.8, 0.0, 1.4
// 
// # Crew and capacity
// #    crew  passengers passengers_max
// crew 4, 0          8
// 
// # Shade model using smooth ground shading when defined
// shade_model_smooth
// 
// # ######################################################################
// # Begin creating standard model
// 
void do_standard_0( void )
{
// #$model_flags 
// # Spot lights under nose
// #         x    y   z     r g b   a  radius on?  type on_int off_int
// light_new -0.8, 4.0, -2.15, 1 1, 0.9, 1  3, 0    0, 0      0
// #         x   y   z     r g b   a  radius on?  type on_int off_int
// light_new 0.8, 4.0, -2.15, 1 1, 0.9, 1  3, 0    0, 0      0
// #         x   y   z     r g b a  radius on?  type on_int off_int
// light_new 0.0, 4.0, -2.15, 1 1, 1 1, 3      0, 2    0, 0
// 
// 
// # Fuselage bottom
 do_color( 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.800000, 0.200000, 0.000000 );
// texture_select hh60_fuselage_bottom
// texture_orient_xy -1.700000, -9.800000, 3.400000, 14.900000
glBegin( GL_QUADS );
	glNormal3f( 0.000000, 0.141421, -0.989949 );
	glVertex3f( 0.000000, 4.000000, -2.100000 );
	glNormal3f( -0.443748, 0.124249, -0.887496 );
	glVertex3f( -1.300000, 4.000000, -2.000000 );
	glNormal3f( -0.447049, 0.050343, -0.893092 );
	glVertex3f( -1.400000, 2.800000, -2.000000 );
	glNormal3f( 0.000000, 0.055903, -0.998436 );
	glVertex3f( 0.000000, 2.800000, -2.150000 );
	glNormal3f( -0.447142, 0.017886, -0.894284 );
	glVertex3f( -1.500000, 1.200000, -2.000000 );
	glNormal3f( 0.000000, 0.019996, -0.999800 );
	glVertex3f( 0.000000, 1.200000, -2.200000 );
	glNormal3f( 0.000000, 0.055903, -0.998436 );
	glVertex3f( 0.000000, 2.800000, -2.150000 );
	glNormal3f( -0.447049, 0.050343, -0.893092 );
	glVertex3f( -1.400000, 2.800000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, -1.000000 );
	glVertex3f( 0.000000, 1.200000, -2.200000 );
	glNormal3f( -0.447214, 0.000000, -0.894427 );
	glVertex3f( -1.500000, 1.200000, -2.000000 );
	glNormal3f( -0.447141, -0.018006, -0.894282 );
	glVertex3f( -1.500000, -1.300000, -2.000000 );
	glNormal3f( 0.000000, -0.020130, -0.999797 );
	glVertex3f( 0.000000, -1.300000, -2.150000 );
	glNormal3f( -0.445435, -0.089087, -0.890871 );
	glVertex3f( -1.400000, -2.600000, -2.000000 );
	glNormal3f( 0.000000, -0.099504, -0.995037 );
	glVertex3f( 0.000000, -2.600000, -2.100000 );
	glNormal3f( 0.000000, -0.020130, -0.999797 );
	glVertex3f( 0.000000, -1.300000, -2.150000 );
	glNormal3f( -0.447141, -0.018006, -0.894282 );
	glVertex3f( -1.500000, -1.300000, -2.000000 );
	glNormal3f( 0.000000, -0.099504, -0.995037 );
	glVertex3f( 0.000000, -2.600000, -2.100000 );
	glNormal3f( -0.445435, -0.089087, -0.890871 );
	glVertex3f( -1.400000, -2.600000, -2.000000 );
	glNormal3f( -0.444577, -0.099905, -0.890152 );
	glVertex3f( -0.600000, -4.000000, -2.000000 );
	glNormal3f( 0.000000, -0.129552, -0.991573 );
	glVertex3f( 0.000000, -4.000000, -2.100000 );
	glNormal3f( -0.200000, 0.200000, -0.600000 );
	glVertex3f( -0.700000, 4.400000, -2.000000 );
	glVertex3f( -1.300000, 4.000000, -2.000000 );
	glVertex3f( 0.000000, 4.000000, -2.100000 );
	glVertex3f( 0.000000, 4.600000, -1.950000 );
	glNormal3f( 0.100000, 0.200000, -0.600000 );
	glVertex3f( 0.000000, 4.000000, -2.100000 );
	glVertex3f( 1.300000, 4.000000, -2.000000 );
	glVertex3f( 0.700000, 4.400000, -2.000000 );
	glVertex3f( 0.000000, 4.600000, -1.950000 );
	glNormal3f( 0.000000, 0.055903, -0.998436 );
	glVertex3f( 0.000000, 2.800000, -2.150000 );
	glNormal3f( 0.447000, 0.050000, -0.893000 );
	glVertex3f( 1.400000, 2.800000, -2.000000 );
	glNormal3f( 0.444000, 0.124000, -0.887000 );
	glVertex3f( 1.300000, 4.000000, -2.000000 );
	glNormal3f( 0.000000, 0.141421, -0.989949 );
	glVertex3f( 0.000000, 4.000000, -2.100000 );
	glNormal3f( 0.447000, 0.050000, -0.893000 );
	glVertex3f( 1.400000, 2.800000, -2.000000 );
	glNormal3f( 0.000000, 0.055903, -0.998436 );
	glVertex3f( 0.000000, 2.800000, -2.150000 );
	glNormal3f( 0.000000, 0.019996, -0.999800 );
	glVertex3f( 0.000000, 1.200000, -2.200000 );
	glNormal3f( 0.447000, 0.018000, -0.894000 );
	glVertex3f( 1.500000, 1.200000, -2.000000 );
	glNormal3f( 0.000000, -0.020130, -0.999797 );
	glVertex3f( 0.000000, -1.300000, -2.150000 );
	glNormal3f( 0.447000, -0.018000, -0.894000 );
	glVertex3f( 1.500000, -1.300000, -2.000000 );
	glNormal3f( 0.447000, 0.000000, -0.894000 );
	glVertex3f( 1.500000, 1.200000, -2.000000 );
	glNormal3f( 0.000000, 0.000000, -1.000000 );
	glVertex3f( 0.000000, 1.200000, -2.200000 );
	glNormal3f( 0.447000, -0.018000, -0.894000 );
	glVertex3f( 1.500000, -1.300000, -2.000000 );
	glNormal3f( 0.000000, -0.020130, -0.999797 );
	glVertex3f( 0.000000, -1.300000, -2.150000 );
	glNormal3f( 0.000000, -0.099504, -0.995037 );
	glVertex3f( 0.000000, -2.600000, -2.100000 );
	glNormal3f( 0.445000, -0.089000, -0.891000 );
	glVertex3f( 1.400000, -2.600000, -2.000000 );
	glNormal3f( 0.000000, -0.129552, -0.991573 );
	glVertex3f( 0.000000, -4.000000, -2.100000 );
	glNormal3f( 0.445000, -0.100000, -0.890000 );
	glVertex3f( 0.600000, -4.000000, -2.000000 );
	glNormal3f( 0.445000, -0.089000, -0.891000 );
	glVertex3f( 1.400000, -2.600000, -2.000000 );
	glNormal3f( 0.000000, -0.099504, -0.995037 );
	glVertex3f( 0.000000, -2.600000, -2.100000 );
glEnd();
// # Fuselage left
 do_color( 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.800000, 0.200000, 0.000000 );
// texture_select hh60_fuselage_left
// texture_orient_yz 5.200000, -2.200000, 15.000000, 2.900000
glBegin( GL_QUADS );
	glNormal3f( -0.455842, 0.569803, -0.683763 );
	glVertex3f( -0.700000, 4.400000, -2.000000 );
	glNormal3f( 0.000000, 0.543647, -0.839314 );
	glVertex3f( 0.000000, 4.600000, -1.950000 );
	glNormal3f( 0.000000, 1.000000, 0.000000 );
	glVertex3f( 0.000000, 5.100000, -1.500000 );
	glNormal3f( -0.600000, 0.800000, 0.000000 );
	glVertex3f( -0.900000, 4.800000, -1.500000 );
glEnd();
// # Ring 1 nose
glBegin( GL_QUADS );
	glNormal3f( -0.600000, 0.800000, 0.000000 );
	glVertex3f( -0.900000, 4.800000, -1.500000 );
	glNormal3f( 0.000000, 1.000000, 0.000000 );
	glVertex3f( 0.000000, 5.100000, -1.500000 );
	glNormal3f( 0.000000, 0.371391, 0.928477 );
	glVertex3f( 0.000000, 4.600000, -1.200000 );
	glNormal3f( -0.287503, 0.355545, 0.889342 );
	glVertex3f( -0.600000, 4.400000, -1.150000 );
	glNormal3f( -0.287503, 0.355545, 0.889342 );
	glVertex3f( -0.600000, 4.400000, -1.150000 );
	glNormal3f( 0.000000, 0.349069, 0.937097 );
	glVertex3f( 0.000000, 4.600000, -1.200000 );
	glNormal3f( 0.000000, 0.000000, 1.000000 );
	glVertex3f( 0.000000, 4.000000, -1.100000 );
	glNormal3f( -0.705346, 0.070535, 0.705346 );
	glVertex3f( -1.300000, 4.000000, -1.100000 );
glEnd();
// # Ring 2
glBegin( GL_QUADS );
	glNormal3f( -0.999201, 0.039968, 0.000000 );
	glVertex3f( -1.600000, 2.800000, -1.500000 );
	glNormal3f( -0.893907, 0.040131, -0.446452 );
	glVertex3f( -1.400000, 2.800000, -2.000000 );
	glNormal3f( -0.890871, 0.089087, -0.445435 );
	glVertex3f( -1.300000, 4.000000, -2.000000 );
	glNormal3f( -0.994937, 0.100499, 0.000000 );
	glVertex3f( -1.500000, 4.000000, -1.500000 );
	glNormal3f( -0.955894, 0.038818, 0.291135 );
	glVertex3f( -1.500000, 2.800000, -1.100000 );
	glNormal3f( -0.999201, 0.039968, 0.000000 );
	glVertex3f( -1.600000, 2.800000, -1.500000 );
	glNormal3f( -0.994937, 0.100499, 0.000000 );
	glVertex3f( -1.500000, 4.000000, -1.500000 );
	glNormal3f( -0.890687, 0.089158, 0.445789 );
	glVertex3f( -1.300000, 4.000000, -1.100000 );
glEnd();
// # Ring 2 left window strip
glBegin( GL_QUADS );
	glNormal3f( -0.176090, 0.440225, 0.880451 );