[Csp-commits] svn:csp r1503 - in trunk/CSP/CSPSim: . Include Source

[<sv...@ww...>]

Author: mkrose
Date: 2005-04-02 11:09:59 -0800 (Sat, 02 Apr 2005)
New Revision: 1503

Modified:
   trunk/CSP/CSPSim/CHANGES.current
   trunk/CSP/CSPSim/Include/PhysicsModel.h
   trunk/CSP/CSPSim/Source/AircraftPhysicsModel.cpp
   trunk/CSP/CSPSim/Source/PhysicsModel.cpp
Log:
Export angular velocity in body coordinates from PhysicsModel.

Browse at: https://www.zerobar.net/viewcvs/viewcvs.cgi?view=rev&rev=1503

Modified: trunk/CSP/CSPSim/CHANGES.current
===================================================================
--- trunk/CSP/CSPSim/CHANGES.current	2005-04-02 17:53:21 UTC (rev 1502)
+++ trunk/CSP/CSPSim/CHANGES.current	2005-04-02 19:09:59 UTC (rev 1503)
@@ -8,6 +8,8 @@
  * Add headers and a common source file for declaring top-level bus
    channel names.
 
+ * Export angular velocity in body coordinates from PhysicsModel.
+
 2005-03-12: delta
  * Reformated GearAnimation and related classes as Systems. Adjusted 
    xml files consequently. Cleaned up GearDynamics.

Modified: trunk/CSP/CSPSim/Include/PhysicsModel.h
===================================================================
--- trunk/CSP/CSPSim/Include/PhysicsModel.h	2005-04-02 17:53:21 UTC (rev 1502)
+++ trunk/CSP/CSPSim/Include/PhysicsModel.h	2005-04-02 19:09:59 UTC (rev 1503)
@@ -129,6 +129,7 @@
 	DataChannel<simdata::Vector3>::Ref b_Position;
 	DataChannel<simdata::Vector3>::Ref b_Velocity;
 	DataChannel<simdata::Vector3>::Ref b_AngularVelocity;
+	DataChannel<simdata::Vector3>::Ref b_AngularVelocityBody;
 	DataChannel<simdata::Vector3>::Ref b_AccelerationBody;
 	DataChannel<simdata::Quat>::Ref b_Attitude;
 

Modified: trunk/CSP/CSPSim/Source/AircraftPhysicsModel.cpp
===================================================================
--- trunk/CSP/CSPSim/Source/AircraftPhysicsModel.cpp	2005-04-02 17:53:21 UTC (rev 1502)
+++ trunk/CSP/CSPSim/Source/AircraftPhysicsModel.cpp	2005-04-02 19:09:59 UTC (rev 1503)
@@ -129,6 +129,7 @@
 	assert(b_Position.valid());
 	assert(b_Velocity.valid());
 	assert(b_AngularVelocity.valid());
+	assert(b_AngularVelocityBody.valid());
 	assert(b_Attitude.valid());
 	assert(b_AccelerationBody.valid());
 	m_WeightLocal = - b_Mass->value() * gravity * simdata::Vector3::ZAXIS;
@@ -190,6 +191,7 @@
 	// returns vehicle data members
 	b_Velocity->value() = m_VelocityLocal;
 	b_AngularVelocity->value() = m_AngularVelocityLocal;
+	b_AngularVelocityBody->value() = localToBody(m_AngularVelocityLocal);
 	b_Attitude->value() = m_Attitude;
 	// the fixed-frame acceleration in body coordinates, *not* m_LinearAccelBody, which is the
 	// rotating-frame acceleration.  to clarify the difference, note that for an aircraft in a

Modified: trunk/CSP/CSPSim/Source/PhysicsModel.cpp
===================================================================
--- trunk/CSP/CSPSim/Source/PhysicsModel.cpp	2005-04-02 17:53:21 UTC (rev 1502)
+++ trunk/CSP/CSPSim/Source/PhysicsModel.cpp	2005-04-02 19:09:59 UTC (rev 1503)
@@ -127,6 +127,7 @@
 	b_Position = bus->getSharedChannel(Kinetics::Position, true, true);
 	b_Velocity = bus->getSharedChannel(Kinetics::Velocity, true, true);
 	b_AngularVelocity = bus->getSharedChannel(Kinetics::AngularVelocity, true, true);
+	b_AngularVelocityBody = bus->getSharedChannel(Kinetics::AngularVelocityBody, true, true);
 	b_Attitude = bus->getSharedChannel(Kinetics::Attitude, true, true);
 	b_AccelerationBody = bus->getSharedChannel(Kinetics::AccelerationBody, true, true);
 	b_Mass = bus->getChannel(Kinetics::Mass);