[Csp-commits] APPLICATIONS/CSPSim/Source PrimaryAeroDynamics.cpp,1.1,1.2 PhysicModel.cpp,1.1,1.2 NumericalMethod.cpp,1.5,1.6 Engine.cpp,1.2,1.3 CSPSim.cpp,1.29,1.30 Collision.cpp,1.1,1.2 AircraftPhysicModel.cpp,1.2,1.3 AircraftObject.cpp,1.21,1.22

[<de...@us...>]

Update of /cvsroot/csp/APPLICATIONS/CSPSim/Source
In directory sc8-pr-cvs1:/tmp/cvs-serv4493

Modified Files:
	PrimaryAeroDynamics.cpp PhysicModel.cpp NumericalMethod.cpp 
	Engine.cpp CSPSim.cpp Collision.cpp AircraftPhysicModel.cpp 
	AircraftObject.cpp 
Log Message:
see CHANGES.current

Index: PrimaryAeroDynamics.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/PrimaryAeroDynamics.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** PrimaryAeroDynamics.cpp	19 Jun 2003 18:06:29 -0000	1.1
--- PrimaryAeroDynamics.cpp	22 Jun 2003 08:59:03 -0000	1.2
***************
*** 180,184 ****
  	m_CD_i = 1.0 / (0.9 * G_PI * m_AspectRatio);
  	m_HalfWingArea = 0.5 * m_WingArea;
! 	m_depsilon = std::min(m_GMax,fabs(m_GMin));
  }
  
--- 180,184 ----
  	m_CD_i = 1.0 / (0.9 * G_PI * m_AspectRatio);
  	m_HalfWingArea = 0.5 * m_WingArea;
! 	m_depsilon = 0.5 * std::min(m_GMax,fabs(m_GMin));
  }
  

Index: PhysicModel.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/PhysicModel.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** PhysicModel.cpp	19 Jun 2003 18:06:29 -0000	1.1
--- PhysicModel.cpp	22 Jun 2003 08:59:03 -0000	1.2
***************
*** 32,36 ****
  	DynamicalSystem(dimension),
  	m_Damping(0.999),
! 	m_qOrientation(simdata::Quaternion(1,0,0,0)),
  	m_AngularAccelBody(simdata::Vector3::ZERO),
  	m_LinearAccelBody(simdata::Vector3::ZERO),
--- 32,36 ----
  	DynamicalSystem(dimension),
  	m_Damping(0.999),
! 	m_qOrientation(simdata::Quaternion(1.0,0.0,0.0,0.0)),
  	m_AngularAccelBody(simdata::Vector3::ZERO),
  	m_LinearAccelBody(simdata::Vector3::ZERO),

Index: NumericalMethod.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/NumericalMethod.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** NumericalMethod.cpp	19 Jun 2003 18:06:29 -0000	1.5
--- NumericalMethod.cpp	22 Jun 2003 08:59:03 -0000	1.6
***************
*** 210,214 ****
  double const RungeKuttaCK::ERRCON = 1.89e-4;
  
! unsigned int const RungeKuttaCK::MAXSTP = 4;
  double const       RungeKuttaCK::TINY   = std::numeric_limits<float>::epsilon();
  
--- 210,214 ----
  double const RungeKuttaCK::ERRCON = 1.89e-4;
  
! unsigned int const RungeKuttaCK::MAXSTP = 16;//10000
  double const       RungeKuttaCK::TINY   = std::numeric_limits<float>::epsilon();
  

Index: Engine.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/Engine.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Engine.cpp	20 Jun 2003 17:47:45 -0000	1.2
--- Engine.cpp	22 Jun 2003 08:59:03 -0000	1.3
***************
*** 18,22 ****
  
  /**
!  * @file Thrust.cpp
   *
   **/
--- 18,22 ----
  
  /**
!  * @file Engine.cpp
   *
   **/
***************
*** 94,99 ****
  }
  
! void Engine::setThrottle(float throttle) {
! 	m_Throttle = throttle;
  }
  
--- 94,99 ----
  }
  
! void Engine::bindThrottle(float const &throttle) {
! 	m_Throttle = &throttle;
  }
  
***************
*** 111,115 ****
  
  simdata::Vector3 Engine::getThrust() const {
! 	float throttle = m_Throttle;
  	if (throttle < 0.0)
  		throttle = 0.0;
--- 111,115 ----
  
  simdata::Vector3 Engine::getThrust() const {
! 	float throttle = *m_Throttle;
  	if (throttle < 0.0)
  		throttle = 0.0;
***************
*** 155,163 ****
  } 
  
! EngineDynamics::EngineDynamics() {
  }
  
! void EngineDynamics::bindThrottle(double const &throttle) {
! 	m_Throttle = &throttle;
  }
  
--- 155,173 ----
  } 
  
! void EngineDynamics::postCreate() { 
! 	if (!m_Engine.empty()) {
! 		simdata::Link<Engine>::vector::iterator i = m_Engine.begin();
! 		simdata::Link<Engine>::vector::const_iterator iEnd = m_Engine.end();
! 			for (; i !=iEnd; ++i)
! 				(*i)->bindThrottle(m_Throttle);
! 	}
  }
  
! EngineDynamics::EngineDynamics():
! 	m_Throttle(0.0f) {
! }
! 
! void EngineDynamics::setThrottle(double const throttle) {
! 	m_Throttle = static_cast<float>(throttle);
  }
  
***************
*** 185,190 ****
  			(*i)->setMach(mach);
  			(*i)->setAltitude(altitude);
- 			// FIXME: calibrate joystick positions for csp
- 			(*i)->setThrottle(2.0f *  static_cast<float>(*m_Throttle));
  			simdata::Vector3 force = (*i)->getThrust();
  			m_Force += force;
--- 195,198 ----

Index: CSPSim.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/CSPSim.cpp,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** CSPSim.cpp	19 Jun 2003 18:06:29 -0000	1.29
--- CSPSim.cpp	22 Jun 2003 08:59:03 -0000	1.30
***************
*** 295,299 ****
  		simdata::Ref<AircraftObject> ao = m_DataManager.getObject(vehicle.c_str());
  		assert(ao.valid());
! 		ao->setGlobalPosition(483025, 499000, 88.5);
  		ao->setAttitude(0.0, 0.0, 1.92);
  		ao->setVelocity(0, 1.0, 0);
--- 295,300 ----
  		simdata::Ref<AircraftObject> ao = m_DataManager.getObject(vehicle.c_str());
  		assert(ao.valid());
! 		//ao->setGlobalPosition(483025, 499000, 88.5);
! 		ao->setGlobalPosition(483025, 499000, 2000.0);
  		ao->setAttitude(0.0, 0.0, 1.92);
  		ao->setVelocity(0, 1.0, 0);
***************
*** 370,374 ****
  	m_Battlefield = NULL;
  	m_Scene = NULL;
! 	if (m_SDLJoystick) {
  		SDL_JoystickClose(m_SDLJoystick);
  		m_SDLJoystick = NULL;
--- 371,375 ----
  	m_Battlefield = NULL;
  	m_Scene = NULL;
!  	if (m_SDLJoystick) {
  		SDL_JoystickClose(m_SDLJoystick);
  		m_SDLJoystick = NULL;

Index: Collision.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/Collision.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Collision.cpp	19 Jun 2003 18:06:29 -0000	1.1
--- Collision.cpp	22 Jun 2003 08:59:03 -0000	1.2
***************
*** 175,184 ****
  	m_InertiaInverse(inertia.Inverse()),
  	m_Contacts(contacts),
! 	m_Elastic(0.7),
  	m_Friction(0.8),
  	m_Vtol(-3.0) {
  }
  
! void GroundCollisionDynamics::preSimulationStep(double dt) {
  	m_ContactList.reset();
  }
--- 175,184 ----
  	m_InertiaInverse(inertia.Inverse()),
  	m_Contacts(contacts),
! 	m_Elastic(0.6),
  	m_Friction(0.8),
  	m_Vtol(-3.0) {
  }
  
! void GroundCollisionDynamics::reset(double dt) {
  	m_ContactList.reset();
  }
***************
*** 189,193 ****
  
  void GroundCollisionDynamics::update(double dt) {
- 	m_ContactList.reset();
  	simdata::Quaternion const &q = *m_qOrientation;
  	simdata::Vector3 const &velocity_body = *m_VelocityBody;
--- 189,192 ----
***************
*** 197,203 ****
  	simdata::Vector3 const groundReactionBody = - *m_WeightBody;
  	simdata::Vector3 const &p = *m_PositionLocal;
! 
! 	simdata::Vector3 origin(0.0, 0.0, *m_Height);
  	simdata::Vector3 const &normalGroundLocal =*m_NormalGround;
  	simdata::Vector3 normalGroundBody = simdata::QVRotate(q.Bar(),normalGroundLocal);
  
--- 196,202 ----
  	simdata::Vector3 const groundReactionBody = - *m_WeightBody;
  	simdata::Vector3 const &p = *m_PositionLocal;
! 	
  	simdata::Vector3 const &normalGroundLocal =*m_NormalGround;
+ 	simdata::Vector3 origin(0.0, 0.0, *m_Height);
  	simdata::Vector3 normalGroundBody = simdata::QVRotate(q.Bar(),normalGroundLocal);
  

Index: AircraftPhysicModel.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/AircraftPhysicModel.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** AircraftPhysicModel.cpp	20 Jun 2003 21:24:28 -0000	1.2
--- AircraftPhysicModel.cpp	22 Jun 2003 08:59:03 -0000	1.3
***************
*** 38,46 ****
  
  	// bind(y,p,v,w,q); 
! 	// XXX the following line is incorrect.
! 	//m_PositionLocal = *m_Position + bodyToLocal(simdata::Vector3(y[0],y[1],y[2]));
! 	// XXX if, in the future, we need to access the local position here, it should be 
! 	// stored in a temporary:
! 	// simdata::Vecter3 position = m_LocalPositon + bodyToLocal(simdata::Vector3(y[0],y[1],y[2]));
  	m_VelocityBody = simdata::Vector3(y[3],y[4],y[5]);
  	m_AngularVelocityBody = simdata::Vector3(y[6],y[7],y[8]);
--- 38,42 ----
  
  	// bind(y,p,v,w,q); 
! 	m_PositionLocal = *m_Position + bodyToLocal(simdata::Vector3(y[0],y[1],y[2]));
  	m_VelocityBody = simdata::Vector3(y[3],y[4],y[5]);
  	m_AngularVelocityBody = simdata::Vector3(y[6],y[7],y[8]);
***************
*** 55,58 ****
--- 51,56 ----
  	m_WeightBody = localToBody(m_WeightLocal);
  
+ 	m_GroundCollisionDynamics->reset(x);
+ 
  	if (m_GroundCollisionDynamics && m_NearGround) {
  		m_GroundCollisionDynamics->update(x);
***************
*** 121,131 ****
  	m_qOrientation = *m_Orientation;
  
! 	for (unsigned short i = 0; i<n; ++i) {
  
  		m_VelocityBody = localToBody(m_VelocityLocal);
  		m_AngularVelocityBody =	localToBody(m_AngularVelocityLocal);
  
- 		updateNearGround();
- 
  		std::vector<double> y0 = bodyToY(simdata::Vector3::ZERO,m_VelocityBody,m_AngularVelocityBody,m_qOrientation);
  
--- 119,129 ----
  	m_qOrientation = *m_Orientation;
  
! 	updateNearGround();
  
+ 	for (unsigned short i = 0; i<n; ++i) {
+ 		
  		m_VelocityBody = localToBody(m_VelocityLocal);
  		m_AngularVelocityBody =	localToBody(m_AngularVelocityLocal);
  
  		std::vector<double> y0 = bodyToY(simdata::Vector3::ZERO,m_VelocityBody,m_AngularVelocityBody,m_qOrientation);
  
***************
*** 152,162 ****
  		if (mag	!= 0.0)
  			m_qOrientation /= mag;
  	}
  
  	// returns vehicle data members
- 	*m_Position = m_PositionLocal;
- 	if (m_GroundCollisionDynamics->hasContact() && m_VelocityLocal.z < 0.0) {
- 		m_VelocityLocal.z *= 0.99;
- 	}
  	*m_Velocity = m_VelocityLocal;
  	*m_AngularVelocity = m_AngularVelocityLocal;
--- 150,161 ----
  		if (mag	!= 0.0)
  			m_qOrientation /= mag;
+ 		
+ 		if (m_GroundCollisionDynamics->hasContact() && m_VelocityLocal.z < 0.0) {
+ 			m_VelocityLocal.z *= 0.9;
+ 		}
+ 		*m_Position = m_PositionLocal;
  	}
  
  	// returns vehicle data members
  	*m_Velocity = m_VelocityLocal;
  	*m_AngularVelocity = m_AngularVelocityLocal;

Index: AircraftObject.cpp
===================================================================
RCS file: /cvsroot/csp/APPLICATIONS/CSPSim/Source/AircraftObject.cpp,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** AircraftObject.cpp	19 Jun 2003 18:06:29 -0000	1.21
--- AircraftObject.cpp	22 Jun 2003 08:59:03 -0000	1.22
***************
*** 157,165 ****
  
  	m_EngineDynamics = m_AircraftDynamics->getEngineDynamics();
- 	m_EngineDynamics->bindThrottle(m_Throttle);
  	m_AircraftPhysicModel->addDynamics(m_EngineDynamics.get());
- 	//if (!m_SceneModel.valid())
- 	//	createSceneModel();
- 	//m_SceneModel->setSmokeEmitterLocation(m_EngineDynamics->getSmokeEmitterLocation());
  
  	m_GearDynamics = m_AircraftDynamics->getGearDynamics();
--- 157,161 ----
***************
*** 256,262 ****
  }
  
! void AircraftObject::setThrottle(double x) 
! { 
! 	m_ThrottleInput = 0.5 * (1.0 - x); 
  }
  
--- 252,257 ----
  }
  
! void AircraftObject::setThrottle(double x) { 
! 	m_ThrottleInput = 0.5 *(1.0 - x); 
  }
  
***************
*** 500,503 ****
--- 495,500 ----
  void AircraftObject::doComplexPhysics(double dt) {
  	m_PrimaryAeroDynamics->setControlSurfaces(m_Aileron, m_Elevator, m_Rudder);
+ 	// FIXME: calibrate joystick positions for csp
+ 	m_EngineDynamics->setThrottle(2.0 * m_Throttle);
  
      //preset various aircraft dimensions and landing/takeoff parameters: