void Power::Propeller::ReloadParams(SimpleXMLTransfer* xml)
{
Gearing::ReloadParams(xml);
SimpleXMLTransfer* prop;
bool fExtern = true;
if (xml->indexOfAttribute("filename") >= 0)
{
prop = new SimpleXMLTransfer(FileSysTools::getDataPath("models/propeller/" + xml->getString("filename") + ".xml", true));
}
else
{
prop = xml;
fExtern = false;
}
// Der Sturz wird in jedem Fall aus der Modelldatei gelesen, ansonsten muss man ja eine
// Propellerdatei fuer jeden Sturz extra haben.
CalcDownthrust(xml);
D = prop->getDouble("D");
H = prop->getDouble("H");
J = prop->getDouble("J");
omega_fold = prop->attributeAsDouble("n_fold", -1)*2*M_PI;
std::cout << " Propeller: D=" << D << " m, H=" << H << " m, J=" << J << " kg m^2";
if (fExtern)
delete prop;
}
void Power::Propeller::CalcDownthrust(SimpleXMLTransfer* xml)
{
int idx = xml->indexOfChild("pos");
if (idx < 0)
{
dirThrust = CRRCMath::Vector3(1, 0, 0);
mulForce = CRRCMath::Vector3(1, 0, 0);
mulMoment = CRRCMath::Vector3(0, 0, 0);
}
else
{
SimpleXMLTransfer* sxtpos = xml->getChildAt(idx);
double downthrust = M_PI * sxtpos->getDouble("downthrust", 0) / 180;
dirThrust = CRRCMath::Vector3(cos(downthrust), 0, sin(downthrust));
CRRCMath::Vector3 pos = CRRCMath::Vector3(sxtpos->getDouble("x", 0),
0,
sxtpos->getDouble("z", 0));
CRRCMath::Vector3 dirForce = pos * (1/pos.length());
// Split thrust vector into a part parallel to dirForce and a part parallel to dirMoment:
// dirThrust = a * dirForce + b * dirMoment
// After simplifying all this (and using the variable expressions above) the solution boils down to:
double a = sin(downthrust) * dirForce.r[2] + cos(downthrust) * dirForce.r[0];
double b = cos(downthrust) * dirForce.r[2] - sin(downthrust) * dirForce.r[0];
mulForce = dirForce * a;
mulMoment = CRRCMath::Vector3(0, b * pos.length(), 0);
}
mulForce.print("mulForce=", ", ");
mulMoment.print("mulMoment=", "\n");
}
void Power::Propeller::ReloadParams_automagic(SimpleXMLTransfer* xml)
{
SimpleXMLTransfer* p = xml->getChild("battery.shaft.propeller");
D = p->getDouble("D");
H = p->getDouble("H");
J = p->getDouble("J");
double F = xml->getDouble("F");
double V = xml->getDouble("V");
// Der Sturz wird in jedem Fall aus der Modelldatei gelesen, ansonsten muss man ja eine
// Propellerdatei fuer jeden Sturz extra haben.
CalcDownthrust(p);
{
// Calculate rotational speed and torque needed:
// F = M_PI * 0.25 * D*D * RHO * (V_X + filter.val/2) * filter.val * ETA_PROP;
// F = M_PI * 0.25 * D*D * RHO * (V + (Hn-V)/2) * (Hn-V) * ETA_PROP;
// F = M_PI * 0.25 * D*D * RHO * (V/2 + Hn/2) * (Hn-V) * ETA_PROP;
double n = sqrt( (8*F/(M_PI*D*D*RHO*ETA_PROP)) + V*V)/H;
double M = F * (V + (V + H*n)/2) / (2*M_PI*n) * i;
// Save these values so the engine can adjust itself to them:
p->setAttribute("automagic.n_P", doubleToString(n));
p->setAttribute("automagic.M_P", doubleToString(M));
}
omega_fold = p->attributeAsDouble("n_fold", -1)*2*M_PI;
}
/** \brief Initialize the mixer from a config file.
*
* The mixer object will be initialized from the given config file.
* This file may contain more than one branch with interface settings,
* so the name of the child has to be specified.
*/
int T_TX_Mixer::init(SimpleXMLTransfer* cfg, std::string child)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_TX_Mixer::init(cfg, child)\n");
printf(" <-- %s\n", child.c_str());
#endif
SimpleXMLTransfer* mixer;
SimpleXMLTransfer* item;
SimpleXMLTransfer* inter;
// store the child's name for writing back the settings
child_in_cfg = child;
printf("Loading mixer settings from %s:\n", child.c_str());
try
{
inter = cfg->getChild(child, true);
mixer = inter->getChild("mixer", true);
enabled = mixer->attributeAsInt("enabled", 1);
dr_enabled = mixer->attributeAsInt("dr_enabled", 0);
for (int i = T_AxisMapper::AILERON; i <= T_AxisMapper::PITCH; i++)
{
item = mixer->getChild(Global::inputDev->AxisStringsXML[i], true);
trim_val[i] = item->getDouble("trim", 0.0);
nrate_val[i] = item->getDouble("nrate", 1.0);
srate_val[i] = item->getDouble("srate", 1.0);
exp_val[i] = item->getDouble("exp", 0.0);
mtravel_val[i] = item->getDouble("mtravel", -0.5);
ptravel_val[i] = item->getDouble("ptravel", 0.5);
}
for (int i = 0; i < T_TX_Mixer::NUM_MIXERS; i++)
{
item = mixer->getChild(Global::inputDev->MixerStringsXML[i], true);
mixer_enabled[i] = item->attributeAsInt("enabled", 0);
mixer_src[i] = item->getDouble("src", T_AxisMapper::NOTHING);
mixer_dst[i] = item->getDouble("dst", T_AxisMapper::NOTHING);
mixer_val[i] = item->getDouble("val", 0.0);
}
}
catch (XMLException e)
{
errMsg = e.what();
return 1;
}
return 0;
}
void CRRCAirplaneLaRCSim::initSound(SimpleXMLTransfer* xml)
{
SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
SimpleXMLTransfer* sndcfg = cfg->getChild("sound", true);
int children = sndcfg->getChildCount();
int units = sndcfg->getInt("units", 0);
for (int i = 0; i < children; i++)
{
SimpleXMLTransfer *child = sndcfg->getChildAt(i);
std::string name = child->getName();
if (name.compare("sample") == 0)
{
T_AirplaneSound *sample;
// assemble relative path
std::string soundfile;
soundfile = child->attribute("filename");
// other sound attributes
int sound_type = child->getInt("type", SOUND_TYPE_GLIDER);
double dPitchFactor = child->getDouble("pitchfactor", 0.002);
double dMaxVolume = child->getDouble("maxvolume", 1.0);
if (dMaxVolume < 0.0)
{
dMaxVolume = 0.0;
}
else if (dMaxVolume > 1.0)
{
dMaxVolume = 1.0;
}
//~ if (cfg->indexOfChild("power") < 0)
//~ max_thrust = 0;
//~ else
//~ max_thrust = 1;
if (soundfile != "")
{
// Get full path (considering search paths).
soundfile = FileSysTools::getDataPath("sounds/" + soundfile);
}
// File ok? Use default otherwise.
if (!FileSysTools::fileExists(soundfile))
soundfile = FileSysTools::getDataPath("sounds/fan.wav");
std::cout << "soundfile: " << soundfile << "\n";
//~ std::cout << "max_thrust: " << max_thrust << "\n";
std::cout << "soundserver: " << Global::soundserver << "\n";
// Only make noise if a sound file is available
if (soundfile != "" && Global::soundserver != (CRRCAudioServer*)0)
{
std::cout << "Using airplane sound " << soundfile << ", type " << sound_type << ", max vol " << dMaxVolume << std::endl;
if (sound_type == SOUND_TYPE_GLIDER)
{
T_GliderSound *glidersound;
float flMinRelV, flMaxRelV, flMaxDist;
flMinRelV = (float)child->getDouble("v_min", 1.5);
flMaxRelV = (float)child->getDouble("v_max", 4.0);
flMaxDist = (float)child->getDouble("dist_max", 300);
if (units == 1)
{
// convert from metric units to ft.
flMaxDist *= M_TO_FT;
}
glidersound = new T_GliderSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
glidersound->setMinRelVelocity(flMinRelV);
glidersound->setMaxRelVelocity(flMaxRelV);
glidersound->setMaxDistanceFeet(flMaxDist);
sample = glidersound;
}
else
{
sample = new T_EngineSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
}
sample->setType(sound_type);
sample->setPitchFactor(dPitchFactor);
sample->setMaxVolume(dMaxVolume);
sample->setChannel(Global::soundserver->playSample((T_SoundSample*)sample));
sound.push_back(sample);
}
}
}
}
/**
* Create a CRRCControlSurfaceAnimation object
*
* Initialize the animation from an
* <animation type="ControlSurface"> tag
*/
CRRCControlSurfaceAnimation::CRRCControlSurfaceAnimation(SimpleXMLTransfer *xml)
: CRRCAnimation(new ssgTransform()), fallback_data(0.0f),
eventAdapter(this, &CRRCControlSurfaceAnimation::axisValueCallback, Event::Input),
aileron(0.0f), elevator(0.0f), rudder(0.0f), throttle(0.0f),
spoiler(0.0f), flap(0.0f), retract(0.0f), pitch(0.0f)
{
bool failed = false;
// evaluate <object> tag
SimpleXMLTransfer *map = xml->getChild("object", true);
symbolic_name = map->getString("name", "no_name_set");
max_angle = (float)(map->getDouble("max_angle", 0.0) * SG_RADIANS_TO_DEGREES);
abs_max_angle = (float)fabs((double)max_angle);
// find hinges and evaluate all <control> tags
int num_controls = 0;
int num_hinges = 0;
for (int i = 0; i < xml->getChildCount(); i++)
{
SimpleXMLTransfer *child = xml->getChildAt(i);
if (child->getName() == "hinge")
{
// found a <hinge> child
sgVec3 pos;
pos[SG_X] = (float)(-1 * child->getDouble("y", 0.0));
pos[SG_Y] = (float)(-1 * child->getDouble("x", 0.0));
pos[SG_Z] = (float)(-1 * child->getDouble("z", 0.0));
if (num_hinges == 0)
{
sgCopyVec3(hinge_1, pos);
}
else if (num_hinges == 1)
{
sgCopyVec3(hinge_2, pos);
}
num_hinges++;
}
else if (child->getName() == "control")
{
// found a <control> child
// The "*2" factor for each gain value scales the control input
// values from -0.5...+0.5 to -1.0...+1.0. This saves one
// float multiplication per mapping in the runtime update() routine.
std::string mapping = child->getString("mapping", "NOTHING");
float gain = (float)child->getDouble("gain", 1.0);
if (mapping == "ELEVATOR")
{
datasource.push_back(&elevator);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "AILERON")
{
datasource.push_back(&aileron);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "THROTTLE")
{
datasource.push_back(&throttle);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "RUDDER")
{
datasource.push_back(&rudder);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "FLAP")
{
datasource.push_back(&flap);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "SPOILER")
{
datasource.push_back(&spoiler);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "RETRACT")
{
datasource.push_back(&retract);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "PITCH")
{
datasource.push_back(&pitch);
source_gain.push_back(gain * 2);
num_controls++;
}
else
{
std::cerr << "ControlSurfaceAnimation: ignoring <control> tag without mapping." << std::endl;
}
}
}
if (num_controls < 1)
{
std::cerr << "ControlSurfaceAnimation: found animation without proper <control> tag. Animation disabled." << std::endl;
failed = true;
}
if (num_hinges < 2)
{
std::cerr << "ControlSurfaceAnimation: Must specify exactly two hinges!" << std::endl;
failed = true;
}
else
{
if (num_hinges > 2)
{
std::cerr << "ControlSurfaceAnimation: Must specify exactly two hinges!" << std::endl;
std::cerr << "ControlSurfaceAnimation: Ignoring excessive hinge tag(s)." << std::endl;
}
sgSubVec3(axis, hinge_2, hinge_1);
if (sgLengthVec3(axis) < 0.001)
{
std::cerr << "ControlSurfaceAnimation: Insufficient spacing between hinges!" << std::endl;
failed = true;
}
}
if (failed)
{
std::cerr << "ControlSurfaceAnimation: Animation setup failed." << std::endl;
// set to some non-critical defaults
datasource.resize(1);
datasource[0] = &fallback_data;
source_gain.resize(1);
source_gain[0] = 1.0;
sgSetVec3(hinge_1, 0.0f, 0.0f, 0.0f);
sgSetVec3(hinge_2, 1.0f, 0.0f, 0.0f);
sgSubVec3(axis, hinge_2, hinge_1);
}
sgMakeIdentMat4(move_to_origin);
move_to_origin[3][0] = -hinge_1[0];
move_to_origin[3][1] = -hinge_1[1];
move_to_origin[3][2] = -hinge_1[2];
sgMakeTransMat4(move_back, hinge_1);
realInit();
}
void CRRC_AirplaneSim_MCopter01::LoadFromXML(SimpleXMLTransfer* xml, int nVerbosity)
{
if (xml->getString("type").compare("mcopter01") != 0 ||
xml->getInt("version") != 1)
{
throw XMLException("file is not for mcopter01");
}
SimpleXMLTransfer* i;
SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
{
double to_slug;
double to_slug_ft_ft;
i = cfg->getChild("mass_inertia");
switch (i->getInt("units"))
{
case 0:
to_slug = 1;
to_slug_ft_ft = 1;
break;
case 1:
to_slug = KG_TO_SLUG;
to_slug_ft_ft = KG_M_M_TO_SLUG_FT_FT;
break;
default:
{
throw std::runtime_error("Unknown units in mass_inertia");
}
break;
}
Mass = i->getDouble("Mass") * to_slug;
I_xx = i->getDouble("I_xx") * to_slug_ft_ft;
I_yy = i->getDouble("I_yy") * to_slug_ft_ft;
I_zz = i->getDouble("I_zz") * to_slug_ft_ft;
I_xz = i->getDouble("I_xz") * to_slug_ft_ft;
}
{
speed_damp = cfg->getDouble("aero.speed.damp");
roll_damp1 = cfg->getDouble("aero.roll.damp1", 0);
yaw_damp1 = cfg->getDouble("aero.yaw.damp1", 0);
roll_damp2 = cfg->getDouble("aero.roll.damp2", 0);
yaw_damp2 = cfg->getDouble("aero.yaw.damp2", 0);
yaw_dist = cfg->getDouble("aero.yaw.dist", 0);
roll_dist = cfg->getDouble("aero.roll.dist", 0);
pitch_dist = cfg->getDouble("aero.pitch.dist", roll_dist);
// The ground effect parameters should be quite independent of the helicopter
// parameters...shouldn't they? However, they can be adjusted.
dGEDistMul = xml->getDouble("GroundEffect.dist.mul", 1.5);
{
double tau = xml->getDouble("Disturbance.tau_filter", 0.2);
dist_t_init = xml->getDouble("Disturbance.time", 0.2);
filt_rnd_yaw.SetTau(tau);
filt_rnd_roll.SetTau(tau);
filt_rnd_pitch.SetTau(tau);
}
}
wheels.init(xml, 0);
dRotorRadius = wheels.getWingspan()*0.5;
dRotorZ = wheels.getZHigh();
wheels.init(xml, 0);
dRotorRadius = wheels.getWingspan()*0.5;
dRotorZ = wheels.getZHigh();
props.clear();
i = cfg->getChild("aero.props");
for (int n=0; n<i->getChildCount(); n++)
props.push_back(Propdata(i->getChildAt(n)));
if (power.size() == 0)
{
for (unsigned int n=0; n<props.size(); n++)
power.push_back(new Power::Power(cfg, nVerbosity));
dURef = 0.7 * cfg->getDouble("power.battery.U_0");
}
else
{
for (unsigned int n=0; n<power.size(); n++)
power[n]->ReloadParams(cfg, nVerbosity);
}
controllers.clear();
Controller::LoadList(cfg->getChild("controllers"), controllers);
}
/**
* Create a HardPointRotation
*
* \param xml <animation> part of the model file that contains the
* description of the animation
*/
HardPointRotation::HardPointRotation(SimpleXMLTransfer *xml, TSimInputs const& in)
{
bool failed = false;
// evaluate <object> tag
SimpleXMLTransfer *map = xml->getChild("object", true);
symbolic_name = map->getString("name", "no_name_set");
max_angle_rad = (float)map->getDouble("max_angle", 0.0);
abs_max_angle_rad = (float)fabs((double)max_angle_rad);
// find hinges and evaluate all <control> tags
int num_controls = 0;
int num_hinges = 0;
for (int i = 0; i < xml->getChildCount(); i++)
{
SimpleXMLTransfer *child = xml->getChildAt(i);
if (child->getName() == "hinge")
{
// found a <hinge> child
CRRCMath::Vector3 pos;
pos.r[0] = (float)(child->getDouble("x", 0.0));
pos.r[1] = (float)(child->getDouble("y", 0.0));
pos.r[2] = (float)(child->getDouble("z", 0.0));
if (num_hinges < 2)
{
hinge[num_hinges] = pos;
}
num_hinges++;
}
else if (child->getName() == "control")
{
// found a <control> child
// The "*2" factor for each gain value scales the control input
// values from -0.5...+0.5 to -1.0...+1.0. This saves one
// float multiplication per mapping in the runtime update() routine.
// NB: unsigned control (throttle, spoiler, retract) are not scaled,
// since control input is already in range 0.0...+1.0
std::string mapping = child->getString("mapping", "NOTHING");
float gain = (float)child->getDouble("gain", 1.0);
std::cout << " mapped to " << mapping << " with gain " << gain;
std::cout << " and max_angle_rad " << max_angle_rad << std::endl;
if (mapping == "ELEVATOR")
{
datasource.push_back(&in.elevator);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "AILERON")
{
datasource.push_back(&in.aileron);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "THROTTLE")
{
datasource.push_back(&in.throttle);
source_gain.push_back(gain);
num_controls++;
}
else if (mapping == "RUDDER")
{
datasource.push_back(&in.rudder);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "FLAP")
{
datasource.push_back(&in.flap);
source_gain.push_back(gain * 2);
num_controls++;
}
else if (mapping == "SPOILER")
{
datasource.push_back(&in.spoiler);
source_gain.push_back(gain);
num_controls++;
}
else if (mapping == "RETRACT")
{
datasource.push_back(&in.retract);
source_gain.push_back(gain);
num_controls++;
}
else if (mapping == "PITCH")
{
datasource.push_back(&in.pitch);
source_gain.push_back(gain * 2);
num_controls++;
}
else
{
fprintf(stderr, "HardPointRotation: ignoring <control> tag without mapping.\n");
}
}
}
if (num_controls < 1)
{
fprintf(stderr, "HardPointRotation: found animation without proper <control> tag. Animation disabled.\n");
failed = true;
}
if (num_hinges < 2)
{
fprintf(stderr, "HardPointRotation: Must specify exactly two hinges!\n");
failed = true;
}
else
{
if (num_hinges > 2)
{
fprintf(stderr, "HardPointRotation: Must specify exactly two hinges!\n");
fprintf(stderr, "HardPointRotation: Ignoring excessive hinge tag(s).\n");
}
axis = hinge[1] - hinge[0];
if (axis.length() < 0.001)
{
fprintf(stderr, "HardPointRotation: Insufficient spacing between hinges!\n");
failed = true;
}
}
if (failed)
{
fprintf(stderr, "HardPointRotation: Animation setup failed.\n");
// set to some non-critical defaults
datasource.resize(1);
datasource[0] = &fallback_data;
source_gain.resize(1);
source_gain[0] = 1.0;
hinge[0] = CRRCMath::Vector3(0.0, 0.0, 0.0);
hinge[1] = CRRCMath::Vector3(1.0, 0.0, 0.0);
axis = hinge[1] - hinge[0];
}
else
{
std::cerr << "HardPointRotation: set up animated hardpoint ";
std::cerr << symbolic_name << std::endl;
}
move_orig.makeTranslation(hinge[0] * -1);
move_back.makeTranslation(hinge[0]);
//~ realInit();
}
