Ghost::Ghost(Position pos) {
ghost_velocity = GHOST_VELOCITY;
WorldManager &world_manager = WorldManager::getInstance();
setPosition(pos);
setType("Ghost");
setSolidness(SOFT); //Ghosts can move through anything
setAltitude(MAX_ALTITUDE);
//TODO: This takes too long to find, is there a more efficient way?
/*
ObjectList objects = world_manager.getAllObjects();
ObjectListIterator iterator = objects.createIterator();
bool found = false;
while(!iterator.isDone() && !found){
if (iterator.currentObject()->getType() == "Hero"){
hero_pos = iterator.currentObject()->getPosition();
found = true;
}
}
*/
// if (!found){
Position h_pos(world_manager.getBoundary().getHorizontal() / 2,
world_manager.getBoundary().getVertical() / 2);
hero_pos = h_pos;
// }
LogManager &lm = LogManager::getInstance();
ResourceManager &rm = ResourceManager::getInstance();
Sprite *p_temp_sprite;
p_temp_sprite = rm.getSprite("ghost");
if (!p_temp_sprite) {
lm.writeLog("Ghost::Ghost(): Warning! Sprite '%s' not found", "ghost");
} else {
setSprite(p_temp_sprite);
setSpriteSlowdown(15);
}
max_speed_cooldown = MAX_SPEED_COOLDOWN;
speed_cooldown = max_speed_cooldown;
registerInterest(HERO_MOVE_EVENT);
registerInterest(STEP_EVENT);
registerInterest(COLLISION_EVENT);
registerInterest(LEVEL_UP_EVENT);
}
FGColumnVector3 FGRotor::rotor::body_moments(FGColumnVector3 F_h, double a_ic, double b_ic)
{
FGColumnVector3 M_s, M_hub, M_h;
FGColumnVector3 h_pos(RelDistance_xhub, 0.0, RelHeight_zhub);
// vermutlich ein biege moment, bzw.widerstands moment ~ d^3
double M_w_tilde = 0.0 ;
double mf = 0.0 ;
M_w_tilde = BladeMassMoment;
// cyclic flapping relative to shaft axes /SH79/ eqn(43)
a1s = a_1*cos(beta_orient) + b_1*sin(beta_orient) - b_ic;
b1s = b_1*cos(beta_orient) - a_1*sin(beta_orient) + a_ic;
// mind this: no HingeOffset, no additional pitch/roll moments
mf = 0.5 * (HingeOffset+HingeOffset_hover) * BladeNum * Omega*Omega * M_w_tilde;
M_s(eL) = mf*b1s;
M_s(eM) = mf*a1s;
M_s(eN) = Torque;
if (flags & eRotCW) {
M_s(eN) = -M_s(eN);
}
if (flags & eCoaxial) {
M_s(eN) = 0.0;
}
M_hub = ShaftToBody * M_s;
M_h = M_hub + (h_pos * F_h);
return M_h;
}
