fglgear.h

6 DOF Missle Simulation

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGLGear : public FGJSBBase
{
public:
  /// Brake grouping enumerators
  enum BrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail };
  /// Steering group membership enumerators
  enum SteerType {stSteer, stFixed, stCaster};
  /// Contact point type
  enum ContactType {ctBOGEY, ctSTRUCTURE, ctUNKNOWN};
  /// Report type enumerators
  enum ReportType {erNone=0, erTakeoff, erLand};
  /// Damping types
  enum DampType {dtLinear=0, dtSquare};
  /** Constructor
      @param el a pointer to the XML element that contains the CONTACT info.
      @param Executive a pointer to the parent executive object
      @param number integer identifier for this instance of FGLGear
  */
  FGLGear(Element* el, FGFDMExec* Executive, int number);
  /** Constructor
      @param lgear a reference to an existing FGLGear object     */
  FGLGear(const FGLGear& lgear);
  /// Destructor
  ~FGLGear();


  /// The Force vector for this gear
  FGColumnVector3& Force(void);
  /// The Moment vector for this gear
  FGColumnVector3& Moment(void) {return vMoment;}

  /// Gets the location of the gear in Body axes
  FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
  double GetBodyLocation(int idx) const { return vWhlBodyVec(idx); }

  FGColumnVector3& GetLocalGear(void) { return vLocalGear; }
  double GetLocalGear(int idx) const { return vLocalGear(idx); }

  /// Gets the name of the gear
  inline string GetName(void) const {return name;          }
  /// Gets the Weight On Wheels flag value
  inline bool   GetWOW(void) const {return WOW;           }
  /// Gets the current compressed length of the gear in feet
  inline double  GetCompLen(void) const {return compressLength;}
  /// Gets the current gear compression velocity in ft/sec
  inline double  GetCompVel(void) const {return compressSpeed; }
  /// Gets the gear compression force in pounds
  inline double  GetCompForce(void) const {return vForce(eZ);    }
  inline double  GetBrakeFCoeff(void) const {return BrakeFCoeff;}

  /// Gets the current normalized tire pressure
  inline double  GetTirePressure(void) const { return TirePressureNorm; }
  /// Sets the new normalized tire pressure
  inline void    SetTirePressure(double p) { TirePressureNorm = p; }

  /// Sets the brake value in percent (0 - 100)
  inline void SetBrake(double bp) {brakePct = bp;}

  /** Set the console touchdown reporting feature
      @param flag true turns on touchdown reporting, false turns it off */
  inline void SetReport(bool flag) { ReportEnable = flag; }
  /** Get the console touchdown reporting feature
      @return true if reporting is turned on */
  inline bool GetReport(void) const  { return ReportEnable; }
  double GetSteerNorm(void) const    { return radtodeg/maxSteerAngle*SteerAngle; }
  double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
  double GetstaticFCoeff(void) const { return staticFCoeff; }

  inline int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
  inline int GetSteerType(void) const  { return (int)eSteerType; }

  inline double GetZPosition(void) const { return vXYZ(3); }
  inline void SetZPosition(double z) { vXYZ(3) = z; }

  bool GetSteerable(void) const { return eSteerType != stFixed; }
  inline bool GetRetractable(void) const      { return isRetractable;   }
  inline bool GetGearUnitUp(void) const       { return GearUp;          }
  inline bool GetGearUnitDown(void) const     { return GearDown;        }
  inline double GetWheelSideForce(void) const { return SideForce;       }
  inline double GetWheelRollForce(void) const { return RollingForce;    }
  inline double GetWheelSideVel(void) const   { return SideWhlVel;      }
  inline double GetWheelRollVel(void) const   { return RollingWhlVel;   }
  inline double GetBodyXForce(void) const     { return vLocalForce(eX); }
  inline double GetBodyYForce(void) const     { return vLocalForce(eY); }
  inline double GetWheelSlipAngle(void) const { return WheelSlip;       }
  double GetWheelVel(int axis) const          { return vWhlVelVec(axis);}
  bool IsBogey(void) const                    { return (eContactType == ctBOGEY);}
  double GetGearUnitPos(void);

  void bind(void);

private:
  int GearNumber;
  FGColumnVector3 vXYZ;
  FGColumnVector3 vMoment;
  FGColumnVector3 vWhlBodyVec;
  FGColumnVector3 vLocalGear;
  FGColumnVector3 vForce;
  FGColumnVector3 last_vForce; // remove this
  FGColumnVector3 vLocalForce;
  FGColumnVector3 vWhlVelVec;     // Velocity of this wheel (Local)
  FGColumnVector3 normal, cvel;
  FGColumnVector3 prevOut, prevIn;
  FGLocation contact, gearLoc;
  FGTable *ForceY_Table;
  double dT;
  double SteerAngle;
  double kSpring;
  double bDamp;
  double bDampRebound;
  double compressLength;
  double compressSpeed;
  double staticFCoeff, dynamicFCoeff, rollingFCoeff;
  double brakePct;
  double BrakeFCoeff;
  double maxCompLen;
  double SinkRate;
  double GroundSpeed;
  double TakeoffDistanceTraveled;
  double TakeoffDistanceTraveled50ft;
  double LandingDistanceTraveled;
  double MaximumStrutForce;
  double MaximumStrutTravel;
  double SideWhlVel, RollingWhlVel;
  double RollingForce, SideForce, FCoeff;
  double WheelSlip;
  double prevSlipIn;
  double prevSlipOut;
  double TirePressureNorm;
  double SinWheel, CosWheel;
  double GearPos;
  bool   useFCSGearPos;
  bool WOW;
  bool lastWOW;
  bool FirstContact;
  bool StartedGroundRun;
  bool LandingReported;
  bool TakeoffReported;
  bool ReportEnable;
  bool isRetractable;
  bool GearUp, GearDown;
  bool Servicable;
  string name;
  string sSteerType;
  string sBrakeGroup;
  string sRetractable;
  string sContactType;

  BrakeGroup  eBrakeGrp;
  ContactType eContactType;
  SteerType   eSteerType;
  DampType    eDampType;
  DampType    eDampTypeRebound;
  double  maxSteerAngle;
  double RFRV;  // Rolling force relaxation velocity
  double SFRV;  // Side force relaxation velocity
  double LongForceLagFilterCoeff; // Longitudinal Force Lag Filter Coefficient
  double LatForceLagFilterCoeff; // Lateral Force Lag Filter Coefficient
  double WheelSlipLagFilterCoeff; // Wheel slip angle lag filter coefficient

  FGFDMExec*     Exec;
  FGState*       State;
  FGAircraft*    Aircraft;
  FGPropagate*   Propagate;
  FGAuxiliary*   Auxiliary;
  FGFCS*         FCS;
  FGMassBalance* MassBalance;

  void ComputeRetractionState(void);
  void ComputeBrakeForceCoefficient(void);
  void ComputeSteeringAngle(void);
  void ComputeSlipAngle(void);
  void ComputeSideForceCoefficient(void);
  void ComputeVerticalStrutForce(void);
  void CrashDetect(void);
  void InitializeReporting(void);
  void ResetReporting(void);
  void ReportTakeoffOrLanding(void);
  void Report(ReportType rt);
  void Debug(int from);
};
}
#include "FGAircraft.h"
#include "FGPropagate.h"
#include "FGAuxiliary.h"
#include "FGFCS.h"
#include "FGMassBalance.h"
#include "FGState.h"

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

#endif