void S013010C_Aaron_Smith_Tank::MoveInHeadingDirection(float deltaTime)
{
mSteeringForce = mSteering->Calculate(deltaTime);
//Acceleration = Force/Mass
//mSteeringForce.Truncate(GetMaxForce());
Vector2D acceleration = mSteeringForce / GetMass();
//Update velocity.
mVelocity += acceleration * deltaTime;
//Don't allow the tank does not go faster than max speed.
mVelocity.Truncate(GetMaxSpeed());
//cout << "mVelocity " << mVelocity.x << ":" << mVelocity.y << endl;
//cout << "VELOCITY " << mVelocity.Length() << endl;
if (mVelocity.Length() > 0.0001)
{
if (mVelocity.x != mVelocity.x || mVelocity.y != mVelocity.y) return;
Vector2D newPosition = GetPosition();
newPosition.x += mVelocity.x*deltaTime;
newPosition.y += (mVelocity.y)*deltaTime; //Y flipped as adding to Y moves down screen.
SetPosition(newPosition);
Vector2D ahead = Vec2DNormalize(mVelocity);
if (ahead.Length() == 0)
ahead = mHeading;
Vector2D cenPos = GetCentrePosition();
Vector2D aheadDistance = cenPos + ahead * 10 ;
RotateHeadingToTarget(aheadDistance);
// double dynamicLength = mVelocity.Length() / GetMaxSpeed();
Vector2D left = (mHeading - mSide) * 0.5;
Vector2D right = (mHeading + mSide) * 0.5;
mTopLeftCorner.x = left.x;
mTopLeftCorner.y = left.y;
mTopLeftCorner = Vec2DNormalize(mTopLeftCorner) * -10;
mTopLeftCorner += GetCentralPosition();
mTopRightCorner.x = right.x;
mTopRightCorner.y = right.y;
mTopRightCorner = Vec2DNormalize(mTopRightCorner) * -10;
mTopRightCorner += GetCentralPosition();
/*double angle = 70;
int ahead2Amount = 40;
int ahead1Amount = ahead2Amount / 2;
int side2Amount = 30;
int side1Amount = side2Amount / 2;
Vector2D fannedLeftAhead;
fannedLeftAhead.x = ahead.x * cos(DegsToRads(-angle)) - ahead.y * sin(DegsToRads(-angle));
fannedLeftAhead.y = ahead.x * sin(DegsToRads(-angle)) + ahead.y * cos(DegsToRads(-angle));
Vector2D fannedRightAhead;
fannedRightAhead.x = ahead.x * cos(DegsToRads(angle)) - ahead.y * sin(DegsToRads(angle));
fannedRightAhead.y = ahead.x * sin(DegsToRads(angle)) + ahead.y * cos(DegsToRads(angle));
mLeftAhead2Distance = (mTopLeftCorner) + (fannedLeftAhead * dynamicLength * side2Amount);
mLeftAhead1Distance = (mTopLeftCorner) + (fannedLeftAhead * dynamicLength * side1Amount);
mRightAhead2Distance = (mTopRightCorner)+(fannedRightAhead * dynamicLength * side2Amount);
mRightAhead1Distance = (mTopRightCorner)+(fannedRightAhead * dynamicLength * side1Amount);
mAhead1Distance = GetCentrePosition() + (ahead * dynamicLength * ahead1Amount );
mAhead2Distance = GetCentrePosition() + (ahead * dynamicLength * (ahead2Amount + 50));*/
//cout << "AHEAD " << mLeftAhead2Distance.x << ":" << mLeftAhead2Distance.y << endl;
//mAhead1Distance = mAhead2Distance * 0.5;
}
CreateFeelers(mRightSideFeelers, 90, 30, GetCentralPosition());
CreateFeelers(mLeftSideFeelers, -90, 30, GetCentralPosition());
CreateFeelers(mLeftFeelers, -40, 30, mTopLeftCorner);
CreateFeelers(mRightFeelers, 40, 30, mTopRightCorner); // 70
CreateFeelers(mStraightFeelers, 0, 40, mTopLeftCorner);
}
void S013010C_Aaron_Smith_Tank::Update(float deltaTime, SDL_Event e)
{
//TODO: Adjust mHeading.
switch (e.type)
{
case SDL_MOUSEMOTION:
mMouseX = e.motion.x;
mMouseY = e.motion.y;
if (demoPursuit)
{
Vector2D prevPosition;
prevPosition = mTargetPos;
mTargetPos = Vector2D(e.motion.x , e.motion.y);
Vector2D enemySteering = (Vec2DNormalize(mTargetPos - prevPosition )* 75) - mEnemyVelocity ;
//mEnemyVelocity = mEnemyHeading;
//Acceleration = Force/Mass
//mSteeringForce.Truncate(GetMaxForce());
Vector2D acceleration = enemySteering / GetMass();
//Update velocity.
mEnemyVelocity += acceleration * deltaTime;
mEnemySpeed = mEnemyVelocity.Length();
//Don't allow the tank does not go faster than max speed.
mEnemyVelocity.Truncate(GetMaxSpeed());
mEnemyHeading = Vec2DNormalize(mEnemyVelocity);
cout << "enemySteering " << enemySteering.x << ":" << enemySteering.y << endl;
}
//cout << mMouseX << ":" << mMouseY << endl;
break;
case SDL_MOUSEBUTTONDOWN:
if (e.button.button == SDL_BUTTON_LEFT)
{
mTargetPos = Vector2D(e.motion.x, e.motion.y);
//SetHasTarget(true);
}
else
{
cout << "Mouse Down: " << e.motion.x << ":" << e.motion.y << endl;
}
break;
case SDL_KEYDOWN:
if (e.key.keysym.sym == SDLK_SPACE)
{
mDrawTarget = !mDrawTarget;
}
else if (e.key.keysym.sym == SDLK_RETURN)
{
mShowingDebug = !mShowingDebug;
}
else if (e.key.keysym.sym == SDLK_1)
{
demoPursuit = false;
cout << "Arrive is on" << endl;
mSteering->TurnArriveOn();
mSteering->TurnSeekOff();
mSteering->TurnFleeOff();
mSteering->TurnPursueOff();
}
else if (e.key.keysym.sym == SDLK_2)
{
demoPursuit = false;
cout << "Seek is on" << endl;
mSteering->TurnSeekOn();
mSteering->TurnArriveOff();
mSteering->TurnFleeOff();
mSteering->TurnPursueOff();
}
else if (e.key.keysym.sym == SDLK_3)
{
demoPursuit = false;
cout << "Flee is on" << endl;
mSteering->TurnFleeOn();
mSteering->TurnArriveOff();
mSteering->TurnSeekOff();
mSteering->TurnPursueOff();
}
else if (e.key.keysym.sym == SDLK_4)
{
cout << "Pursuit is on" << endl;
demoPursuit = true;
mSteering->TurnPursueOn();
mSteering->TurnArriveOff();
mSteering->TurnFleeOff();
mSteering->TurnSeekOff();
}
break;
}
if (mTanksICanSee.size() >= 1)
{
bool isSafe = true;
for (BaseTank* enemy : mTanksICanSee)
{
Vector2D targetDir = enemy->GetPosition() - GetPosition();
float distance = targetDir.Length();
if (distance < 100)
{
cout << "START FLEEING!!!!!" << endl;
mTargetPos = enemy->GetCentrePosition();
mEnemyHeading = enemy->GetHeading();
mEnemySpeed = enemy->GetCurrentSpeed();
mEnemyVelocity = enemy->GetVelocity();
mSteering->TurnEvadeOn();
isSafe = false;
}
if (!mIsTestTank)
{
mTargetPos = enemy->GetCentrePosition();
mEnemyHeading = enemy->GetHeading();
mEnemySpeed = enemy->GetCurrentSpeed();
mEnemyVelocity = enemy->GetVelocity();
mSteering->TurnPursueOn();
}
}
/*if (isSafe)
mSteering->TurnArriveOn();*/
}
else
{
//cout << "NO LONGER IN PURSUIT" << endl;
//if(mSteering->mIsPursuing)mSteering->TurnEvadeOff();
}
//Call parent update.
BaseTank::Update(deltaTime, e);
}
bool csBulletRigidBody::AddBulletObject ()
{
// TODO: don't recompute everything if the internal scale hasn't changed
if (insideWorld)
RemoveBulletObject ();
btVector3 localInertia (0.0f, 0.0f, 0.0f);
float mass = GetMass ();
btCollisionShape* shape;
btTransform principalAxis;
principalAxis.setIdentity ();
btVector3 principalInertia(0,0,0);
//Create btRigidBody
if (compoundShape)
{
int shapeCount = compoundShape->getNumChildShapes ();
CS_ALLOC_STACK_ARRAY(btScalar, masses, shapeCount);
for (int i = 0; i < shapeCount; i++)
masses[i] = density * colliders[i]->GetVolume ();
if (shapeChanged)
{
compoundShape->calculatePrincipalAxisTransform
(masses, principalAxis, principalInertia);
// apply principal axis
// creation is faster using a new compound to store the shifted children
btCompoundShape* newCompoundShape = new btCompoundShape();
for (int i = 0; i < shapeCount; i++)
{
btTransform newChildTransform =
principalAxis.inverse() * compoundShape->getChildTransform (i);
newCompoundShape->addChildShape(newChildTransform,
compoundShape->getChildShape (i));
shapeChanged = false;
}
delete compoundShape;
compoundShape = newCompoundShape;
}
shape = compoundShape;
}
else
{
shape = colliders[0]->shape;
principalAxis = CSToBullet (relaTransforms[0], system->getInternalScale ());
}
// create new motion state
btTransform trans;
motionState->getWorldTransform (trans);
trans = trans * motionState->inversePrincipalAxis;
delete motionState;
motionState = new csBulletMotionState (this, trans * principalAxis,
principalAxis);
//shape->calculateLocalInertia (mass, localInertia);
btRigidBody::btRigidBodyConstructionInfo infos (mass, motionState,
shape, localInertia);
infos.m_friction = friction;
infos.m_restitution = elasticity;
infos.m_linearDamping = linearDampening;
infos.m_angularDamping = angularDampening;
// create new rigid body
btBody = new btRigidBody (infos);
btObject = btBody;
if (haveStaticColliders > 0)
physicalState = CS::Physics::STATE_STATIC;
SetState (physicalState);
sector->bulletWorld->addRigidBody (btBody, collGroup.value, collGroup.mask);
btBody->setUserPointer (dynamic_cast<CS::Collisions::iCollisionObject*> (
dynamic_cast<csBulletCollisionObject*>(this)));
insideWorld = true;
return true;
}
bool csBulletRigidBody::SetState (CS::Physics::RigidBodyState state)
{
if (physicalState != state || !insideWorld)
{
CS::Physics::RigidBodyState previousState = physicalState;
physicalState = state;
if (!btBody)
return false;
if (haveStaticColliders > 0 && state != CS::Physics::STATE_STATIC)
return false;
if (insideWorld)
sector->bulletWorld->removeRigidBody (btBody);
btVector3 linearVelo = CSToBullet (linearVelocity, system->getInternalScale ());
btVector3 angularVelo = btVector3 (angularVelocity.x, angularVelocity.y, angularVelocity.z);
if (previousState == CS::Physics::STATE_KINEMATIC && insideWorld)
{
btBody->setCollisionFlags (btBody->getCollisionFlags()
& ~btCollisionObject::CF_KINEMATIC_OBJECT);
linearVelo = btBody->getInterpolationLinearVelocity ();
angularVelo = btBody->getInterpolationAngularVelocity ();
// create new motion state
btTransform principalAxis = motionState->inversePrincipalAxis.inverse ();
btTransform trans;
motionState->getWorldTransform (trans);
trans = trans * motionState->inversePrincipalAxis;
delete motionState;
motionState = new csBulletMotionState
(this, trans * principalAxis, principalAxis);
btBody->setMotionState (motionState);
}
if (state == CS::Physics::STATE_DYNAMIC)
{
btBody->setCollisionFlags (btBody->getCollisionFlags()
& ~btCollisionObject::CF_STATIC_OBJECT);
float mass = GetMass ();
btVector3 localInertia (0.0f, 0.0f, 0.0f);
if (compoundShape)
compoundShape->calculateLocalInertia (mass, localInertia);
else
colliders[0]->shape->calculateLocalInertia (mass, localInertia);
btBody->setMassProps (mass, localInertia);
btBody->forceActivationState (ACTIVE_TAG);
btBody->setLinearVelocity (linearVelo);
btBody->setAngularVelocity (angularVelo);
btBody->updateInertiaTensor ();
}
else if (state == CS::Physics::STATE_KINEMATIC)
{
if (!kinematicCb)
kinematicCb.AttachNew (new csBulletDefaultKinematicCallback ());
// create new motion state
btTransform principalAxis = motionState->inversePrincipalAxis.inverse ();
btTransform trans;
motionState->getWorldTransform (trans);
delete motionState;
motionState = new csBulletKinematicMotionState
(this, trans, principalAxis);
btBody->setMotionState (motionState);
// set body kinematic
btBody->setMassProps (0.0f, btVector3 (0.0f, 0.0f, 0.0f));
btBody->setCollisionFlags (btBody->getCollisionFlags()
| btCollisionObject::CF_KINEMATIC_OBJECT
& ~btCollisionObject::CF_STATIC_OBJECT);
btBody->setActivationState (DISABLE_DEACTIVATION);
btBody->updateInertiaTensor ();
btBody->setInterpolationWorldTransform (btBody->getWorldTransform ());
btBody->setInterpolationLinearVelocity (btVector3(0.0f, 0.0f, 0.0f));
btBody->setInterpolationAngularVelocity (btVector3(0.0f, 0.0f, 0.0f));
}
else if (state == CS::Physics::STATE_STATIC)
{
btBody->setCollisionFlags (btBody->getCollisionFlags()
| btCollisionObject::CF_STATIC_OBJECT
& ~btCollisionObject::CF_KINEMATIC_OBJECT);
btBody->setActivationState (ISLAND_SLEEPING);
btBody->setMassProps (0.0f, btVector3 (0.0f, 0.0f, 0.0f));
btBody->updateInertiaTensor ();
}
if (insideWorld)
sector->bulletWorld->addRigidBody (btBody);
return true;
}
else
return false;
}
void h_volume::ThermalComps(double dt) {
//1. averaging temperature, based on Q
//2. computing vapor pressure based on new temp, for each subst present
//3. boil / condense if needed, affecting Q
//4. redo this every second or so..
int i;
//1. compute average temp
double AvgC = 0;
double vap_press;
for (i = 0; i < MAX_SUB; i++)
AvgC += composition[i].mass * SPECIFICC[composition[i].subst_type];
if (GetMass()) {
AvgC = AvgC / total_mass; //weighted average heat capacity.. gives us averaged temp (ideal case)
Temp = Q / AvgC / total_mass; //average Temp of substances
for (i = 0; i < MAX_SUB; i++)
composition[i].SetTemp(Temp); //redistribute the temps,re-computing the Qs... mathwise we are OK
} else
Temp = 0;
//2. Compute average Press
double m_i=0;
double NV=0;
double PNV=0;
double tNV;
//some sums we need
for (i = 0; i < MAX_SUB; i++) {
m_i += composition[i].vapor_mass / MMASS[composition[i].subst_type];
// temperature dependency of the density is assumed 1 to 2 g/l
double density = L_DENSITY[composition[i].subst_type];
if (composition[i].subst_type == SUBSTANCE_O2) {
// Liquid density is temperature dependend because of cryo tank pressurization with a heater
// Correction term is 0 at O2 initial tank temperature (75K), the other factors are "empirical"
density += 0.56 * Temp * Temp - 134.0 * Temp + 6900.0;
} else if (composition[i].subst_type == SUBSTANCE_H2) {
// Liquid density is temperature dependend because of cryo tank pressurization with a heater
// Correction term is 0 at H2 boiling point (20K), the other factors are "empirical"
density += 0.03333 * Temp * Temp - 4.3333 * Temp + 73.3333;
}
tNV = (composition[i].mass - composition[i].vapor_mass) / density;
NV += tNV;
PNV += tNV / BULK_MOD[composition[i].subst_type];;
}
m_i = -m_i * R_CONST * Temp;
NV = Volume - NV;
double delta = NV * NV - 4.0 * m_i * PNV; //delta of quadric eq. P^2*PNV+ P*NV + m_i = 0
if (PNV)
Press = (-NV + sqrt(delta)) / 2.0 / PNV; //only first solution is always valid. why is there a second?
else
Press = 0;
NV = Volume - NV;
double air_volume = Volume - NV + Press * PNV;
for (i = 0; i < MAX_SUB; i++) {
//recompute the vapor press
vap_press = VAPPRESS[composition[i].subst_type] - (273.0 - Temp) * VAPGRAD[composition[i].subst_type];//this is vapor pressure of current substance
if (vap_press > Press) //need to boil material if any
Q += composition[i].Boil(dt);
else
Q += composition[i].Condense(dt);
composition[i].p_press = R_CONST * Temp * composition[i].vapor_mass / MMASS[composition[i].subst_type] / air_volume;
}
}
//-----------------------------------------------------------------------------
// Purpose: Give the buster a slight attraction to striders.
// Ported back from the magnade.
//-----------------------------------------------------------------------------
void CWeaponStriderBuster::BusterFlyThink()
{
if (IsAttachedToStrider())
return; // early out. Think no more.
// If we're nosediving, forget about magnetism.
if ( m_bNoseDiving )
{
if ( VPhysicsGetObject() )
VPhysicsGetObject()->ApplyForceCenter( Vector( 0, 0, striderbuster_dive_force.GetFloat() ) );
SetNextThink(gpGlobals->curtime + 0.01f);
return;
}
// seek?
const float magradius = 38.0 * sk_striderbuster_magnet_multiplier.GetFloat(); // radius of strider hull times multiplier
if (magradius > 0 &&
GetMoveType() == MOVETYPE_VPHYSICS &&
VPhysicsGetObject()
)
{
// find the nearest enemy.
CBaseEntity *pList[16];
Vector origin = GetAbsOrigin();
// do a find in box ( a little faster than sphere )
int count;
{
Vector mins,maxs;
mins = origin;
mins -= magradius;
maxs = origin;
maxs += magradius;
count = UTIL_EntitiesInBox(pList, 16, mins, maxs, FL_NPC);
}
float magradiusSq = Square( magradius );
float nearestDistSq = magradiusSq + 1;
int bestFit = -1;
Vector toTarget; // will be garbage unless something good is found
CNPC_Strider *pBestStrider = NULL;
for ( int ii = 0 ; ii < count ; ++ii )
{
CNPC_Strider *pStrider = dynamic_cast<CNPC_Strider *>(pList[ii]);
if ( pStrider && !pStrider->CarriedByDropship() ) // ShouldStickToEntity() doesn't work because the strider NPC isn't what we glue to
{
// get distance squared
VectorSubtract( pStrider->GetAdjustedOrigin(), GetAbsOrigin(), toTarget );
//NDebugOverlay::Line( GetAbsOrigin(), GetAbsOrigin() + toTarget, 128, 0, 128, false, 0.1 );
float dSq = toTarget.LengthSqr();
if (dSq < nearestDistSq)
{
bestFit = ii; nearestDistSq = dSq;
pBestStrider = pStrider;
}
}
}
if (bestFit >= 0) // we found something and should attract towards it. (hysterisis later?)
{
if ( striderbuster_debugseek.GetBool() )
{
NDebugOverlay::Circle( GetAbsOrigin() + toTarget, magradius, 255, 255, 255, 255, true, .1 );
NDebugOverlay::Cross3D( GetAbsOrigin() + toTarget, magradius, 255, 255, 255, true, .1 );
}
// force magnitude.
float magnitude = GetMass() * striderbuster_magnetic_force_strider.GetFloat();
int falloff = striderbuster_falloff_power.GetInt();
switch (falloff)
{
case 1:
VPhysicsGetObject()->ApplyForceCenter( toTarget * (magnitude / nearestDistSq) ); // dividing through by distance squared normalizes toTarget and gives a linear falloff
break;
case 2:
VPhysicsGetObject()->ApplyForceCenter( toTarget * (magnitude / (nearestDistSq * sqrtf(nearestDistSq))) ); // dividing through by distance cubed normalizes toTarget and gives a quadratic falloff
break;
case 3:
VPhysicsGetObject()->ApplyForceCenter( toTarget * (magnitude / (nearestDistSq * nearestDistSq)) ); // dividing through by distance fourth normalizes toTarget and gives a cubic falloff
break;
case 4:
{
Vector toTarget;
pBestStrider->GetAttachment( "buster_target", toTarget );
if ( striderbuster_debugseek.GetBool() )
{
NDebugOverlay::Cross3D( toTarget, magradius, 255, 0, 255, true, .1 );
NDebugOverlay::Cross3D( toTarget, magradius, 255, 0, 255, true, .1 );
}
toTarget -= GetAbsOrigin();
toTarget.NormalizeInPlace();
VPhysicsGetObject()->ApplyForceCenter( toTarget * magnitude );
}
break;
default: // arbitrary powers
VPhysicsGetObject()->ApplyForceCenter( toTarget * (magnitude * powf(nearestDistSq,(falloff+1.0f)/2)) ); // square root for distance instead of squared, add one to normalize toTarget
break;
}
}
SetNextThink(gpGlobals->curtime + 0.01f);
}
}
// returns speed that can be reached using fuel minus reserve according to the Tsiolkovsky equation
double Ship::GetSpeedReachedWithFuel() const
{
const double fuelmass = 1000*GetShipType().fuelTankMass * (m_thrusterFuel - m_reserveFuel);
if (fuelmass < 0) return 0.0;
return GetShipType().effectiveExhaustVelocity * log(GetMass()/(GetMass()-fuelmass));
}
float CPhysicsObject::GetEnergy() const {
// (1/2) * mass * velocity^2
float e = 0.5f * GetMass() * m_pObject->getLinearVelocity().dot(m_pObject->getLinearVelocity());
e += 0.5f * GetMass() * m_pObject->getAngularVelocity().dot(m_pObject->getAngularVelocity());
return ConvertEnergyToHL(e);
}
float CPhysicsObject::GetEnergy() const {
float e = 0.5 * GetMass() * m_pObject->getLinearVelocity().dot(m_pObject->getLinearVelocity());
e =+ 0.5 * GetMass() * m_pObject->getAngularVelocity().dot(m_pObject->getAngularVelocity());
return ConvertEnergyToHL(e);
}
void FGBallonet::Calculate(double dt)
{
const double ParentPressure = Parent->GetPressure(); // [lbs/ft^2]
const double AirPressure = in.Pressure; // [lbs/ft^2]
const double OldTemperature = Temperature;
const double OldPressure = Pressure;
unsigned int i;
//-- Gas temperature --
// The model is based on the ideal gas law.
// However, it does look a bit fishy. Please verify.
// dT/dt = dU / (Cv n R)
dU = 0.0;
for (i = 0; i < HeatTransferCoeff.size(); i++) {
dU += HeatTransferCoeff[i]->GetValue();
}
// dt is already accounted for in dVolumeIdeal.
if (Contents > 0) {
Temperature +=
(dU * dt - Pressure * dVolumeIdeal) / (Cv_air * Contents * R);
} else {
Temperature = Parent->GetTemperature();
}
//-- Pressure --
const double IdealPressure = Contents * R * Temperature / MaxVolume;
// The pressure is at least that of the parent gas cell.
Pressure = max(IdealPressure, ParentPressure);
//-- Blower input --
if (BlowerInput) {
const double AddedVolume = BlowerInput->GetValue() * dt;
if (AddedVolume > 0.0) {
Contents += Pressure * AddedVolume / (R * Temperature);
}
}
//-- Pressure relief and manual valving --
// FIXME: Presently the effect of valving is computed using
// an ad hoc formula which might not be a good representation
// of reality.
if ((ValveCoefficient > 0.0) &&
((ValveOpen > 0.0) || (Pressure > AirPressure + MaxOverpressure))) {
const double DeltaPressure = Pressure - AirPressure;
const double VolumeValved =
((Pressure > AirPressure + MaxOverpressure) ? 1.0 : ValveOpen) *
ValveCoefficient * DeltaPressure * dt;
// FIXME: Too small values of Contents sometimes leads to NaN.
// Currently the minimum is restricted to a safe value.
Contents =
max(1.0, Contents - Pressure * VolumeValved / (R * Temperature));
}
//-- Volume --
Volume = Contents * R * Temperature / Pressure;
dVolumeIdeal =
Contents * R * (Temperature / Pressure - OldTemperature / OldPressure);
// Compute the inertia of the ballonet.
// Consider the ballonet as a shape of uniform density.
// FIXME: If the ballonet isn't ellipsoid or cylindrical the inertia will
// be wrong.
ballonetJ = FGMatrix33();
const double mass = Contents * M_air;
double Ixx, Iyy, Izz;
if ((Xradius != 0.0) && (Yradius != 0.0) && (Zradius != 0.0) &&
(Xwidth == 0.0) && (Ywidth == 0.0) && (Zwidth == 0.0)) {
// Ellipsoid volume.
Ixx = (1.0 / 5.0) * mass * (Yradius*Yradius + Zradius*Zradius);
Iyy = (1.0 / 5.0) * mass * (Xradius*Xradius + Zradius*Zradius);
Izz = (1.0 / 5.0) * mass * (Xradius*Xradius + Yradius*Yradius);
} else if ((Xradius == 0.0) && (Yradius != 0.0) && (Zradius != 0.0) &&
(Xwidth != 0.0) && (Ywidth == 0.0) && (Zwidth == 0.0)) {
// Cylindrical volume (might not be valid with an elliptical cross-section).
Ixx = (1.0 / 2.0) * mass * Yradius * Zradius;
Iyy =
(1.0 / 4.0) * mass * Yradius * Zradius +
(1.0 / 12.0) * mass * Xwidth * Xwidth;
Izz =
(1.0 / 4.0) * mass * Yradius * Zradius +
(1.0 / 12.0) * mass * Xwidth * Xwidth;
} else {
// Not supported. Revert to pointmass model.
Ixx = Iyy = Izz = 0.0;
}
// The volume is symmetric, so Ixy = Ixz = Iyz = 0.
ballonetJ(1,1) = Ixx;
ballonetJ(2,2) = Iyy;
ballonetJ(3,3) = Izz;
// Transform the moments of inertia to the body frame.
ballonetJ += MassBalance->GetPointmassInertia(GetMass(), GetXYZ());
}
// -----------------------------------------------------------------------------
// Get the current COM location of the steering subsystem.
// -----------------------------------------------------------------------------
ChVector<> ChPitmanArm::GetCOMPos() const {
ChVector<> com = getSteeringLinkMass() * m_link->GetPos() + getPitmanArmMass() * m_arm->GetPos();
return com / GetMass();
}
