public void ApplyStats(GasProperties p) { p.blockTurretTracking = this.blockTurretTracking; p.accuracyPenalty = this.accuracyPenalty; p.expireSeconds = this.expireSeconds.ToFloatRange(); p.rotationSpeed = this.rotationSpeed; }
public GasPropertiesStats(GasProperties p) { this.blockTurretTracking = p.blockTurretTracking; this.accuracyPenalty = p.accuracyPenalty; this.expireSeconds = new MinMaxFloatStats(p.expireSeconds); this.rotationSpeed = p.rotationSpeed; }
public void SimulateAeroProperties( out Vector3 aeroForce, out Vector3 aeroTorque, Vector3 velocityWorldVector, double altitude ) { Vector3d position = vessel.CurrentPosition(altitude); if (velocityWorldVector.NearlyEqual(lastSimResults.VelocityVector) && (FARAtmosphere.IsCustom // Custom atmospheres are not guaranteed to be independent of latitude and longitude ? position.NearlyEqual(lastSimResults.Position) : altitude.NearlyEqual(lastSimResults.Position.z))) { aeroForce = lastSimResults.Force; aeroTorque = lastSimResults.Torque; return; } var center = new FARCenterQuery(); var dummy = new FARCenterQuery(); //Calculate main gas properties GasProperties properties = FARAtmosphere.GetGasProperties(vessel.mainBody, position, Planetarium.GetUniversalTime()); if (properties.Pressure <= 0 || properties.Temperature <= 0) { aeroForce = Vector3.zero; aeroTorque = Vector3.zero; return; } float velocityMag = velocityWorldVector.magnitude; float machNumber = (float)(velocityMag / properties.SpeedOfSound); float reynoldsNumber = (float)FARAeroUtil.CalculateReynoldsNumber(properties.Density, Length, velocityMag, machNumber, properties.Temperature, properties.AdiabaticIndex); float reynoldsPerLength = reynoldsNumber / (float)Length; float skinFriction = (float)FARAeroUtil.SkinFrictionDrag(reynoldsNumber, machNumber); float pseudoKnudsenNumber = machNumber / (reynoldsNumber + machNumber); if (_currentAeroSections != null) { foreach (FARAeroSection curSection in _currentAeroSections) { curSection?.PredictionCalculateAeroForces((float)properties.Density, machNumber, reynoldsPerLength, pseudoKnudsenNumber, skinFriction, velocityWorldVector, center); } foreach (FARWingAerodynamicModel curWing in _legacyWingModels) { if (curWing != null) { center.AddForce(curWing.transform.position, curWing.PrecomputeCenterOfLift(velocityWorldVector, machNumber, properties.Density, dummy)); } } } aeroForce = center.force; aeroTorque = center.TorqueAt(vessel.CoM); lastSimResults = new CachedSimResults(velocityWorldVector, position, aeroForce, aeroTorque); }
public void SimulateAeroProperties( out Vector3 aeroForce, out Vector3 aeroTorque, Vector3 velocityWorldVector, double altitude ) { var center = new FARCenterQuery(); var dummy = new FARCenterQuery(); //Calculate main gas properties GasProperties properties = FARAtmosphere.GetGasProperties(vessel, altitude, Planetarium.GetUniversalTime()); if (properties.Pressure <= 0 || properties.Temperature <= 0) { aeroForce = Vector3.zero; aeroTorque = Vector3.zero; return; } float velocityMag = velocityWorldVector.magnitude; float machNumber = (float)(velocityMag / properties.SpeedOfSound); float reynoldsNumber = (float)FARAeroUtil.CalculateReynoldsNumber(properties.Density, Length, velocityMag, machNumber, properties.Temperature, properties.AdiabaticIndex); float reynoldsPerLength = reynoldsNumber / (float)Length; float skinFriction = (float)FARAeroUtil.SkinFrictionDrag(reynoldsNumber, machNumber); float pseudoKnudsenNumber = machNumber / (reynoldsNumber + machNumber); if (_currentAeroSections != null) { foreach (FARAeroSection curSection in _currentAeroSections) { curSection?.PredictionCalculateAeroForces((float)properties.Density, machNumber, reynoldsPerLength, pseudoKnudsenNumber, skinFriction, velocityWorldVector, center); } foreach (FARWingAerodynamicModel curWing in _legacyWingModels) { if (curWing != null) { center.AddForce(curWing.transform.position, curWing.PrecomputeCenterOfLift(velocityWorldVector, machNumber, properties.Density, dummy)); } } } aeroForce = center.force; aeroTorque = center.TorqueAt(vessel.CoM); }
public StabilityDerivOutput CalculateStabilityDerivs( CelestialBody body, double alt, double machNumber, int flapSetting, bool spoilers, double alpha, double beta, double phi ) { GasProperties properties = FARAtmosphere.GetGasProperties(body, new Vector3d(0, 0, alt), Planetarium.GetUniversalTime()); double pressure = properties.Pressure; double temperature = properties.Temperature; double density = properties.Density; double sspeed = properties.SpeedOfSound; double u0 = sspeed * machNumber; double q = u0 * u0 * density * 0.5f; var stabDerivOutput = new StabilityDerivOutput { nominalVelocity = u0, altitude = alt, body = body }; Vector3d CoM = Vector3d.zero; double mass = 0; double MAC = 0; double b = 0; double area = 0; double Ix = 0; double Iy = 0; double Iz = 0; double Ixy = 0; double Iyz = 0; double Ixz = 0; var input = new InstantConditionSimInput(alpha, beta, phi, 0, 0, 0, machNumber, 0, flapSetting, spoilers); var pertOutput = new InstantConditionSimOutput(); _instantCondition.GetClCdCmSteady(input, out InstantConditionSimOutput nominalOutput, true); List <Part> partsList = EditorLogic.SortedShipList; foreach (Part p in partsList) { if (FARAeroUtil.IsNonphysical(p)) { continue; } double partMass = p.mass; if (p.Resources.Count > 0) { partMass += p.GetResourceMass(); } // If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass CoM += partMass * (Vector3d)p.transform.TransformPoint(p.CoMOffset); mass += partMass; FARWingAerodynamicModel w = p.GetComponent <FARWingAerodynamicModel>(); if (w == null) { continue; } if (w.isShielded) { continue; } area += w.S; MAC += w.GetMAC() * w.S; b += w.Getb_2() * w.S; if (w is FARControllableSurface controllableSurface) { controllableSurface.SetControlStateEditor(CoM, p.transform.up, 0, 0, 0, input.flaps, input.spoilers); } } if (area.NearlyEqual(0)) { area = _instantCondition._maxCrossSectionFromBody; MAC = _instantCondition._bodyLength; b = 1; } MAC /= area; b /= area; CoM /= mass; mass *= 1000; stabDerivOutput.b = b; stabDerivOutput.MAC = MAC; stabDerivOutput.area = area; foreach (Part p in partsList) { if (p == null || FARAeroUtil.IsNonphysical(p)) { continue; } //This section handles the parallel axis theorem Vector3 relPos = p.transform.TransformPoint(p.CoMOffset) - CoM; double x2 = relPos.z * relPos.z; double y2 = relPos.x * relPos.x; double z2 = relPos.y * relPos.y; double x = relPos.z; double y = relPos.x; double z = relPos.y; double partMass = p.mass; if (p.Resources.Count > 0) { partMass += p.GetResourceMass(); } // If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass Ix += (y2 + z2) * partMass; Iy += (x2 + z2) * partMass; Iz += (x2 + y2) * partMass; Ixy += -x * y * partMass; Iyz += -z * y * partMass; Ixz += -x * z * partMass; //And this handles the part's own moment of inertia Vector3 principalInertia = p.Rigidbody.inertiaTensor; Quaternion prncInertRot = p.Rigidbody.inertiaTensorRotation; //The rows of the direction cosine matrix for a quaternion var Row1 = new Vector3(prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w, 2 * (prncInertRot.x * prncInertRot.y + prncInertRot.z * prncInertRot.w), 2 * (prncInertRot.x * prncInertRot.z - prncInertRot.y * prncInertRot.w)); var Row2 = new Vector3(2 * (prncInertRot.x * prncInertRot.y - prncInertRot.z * prncInertRot.w), -prncInertRot.x * prncInertRot.x + prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w, 2 * (prncInertRot.y * prncInertRot.z + prncInertRot.x * prncInertRot.w)); var Row3 = new Vector3(2 * (prncInertRot.x * prncInertRot.z + prncInertRot.y * prncInertRot.w), 2 * (prncInertRot.y * prncInertRot.z - prncInertRot.x * prncInertRot.w), -prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y + prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w); //And converting the principal moments of inertia into the coordinate system used by the system Ix += principalInertia.x * Row1.x * Row1.x + principalInertia.y * Row1.y * Row1.y + principalInertia.z * Row1.z * Row1.z; Iy += principalInertia.x * Row2.x * Row2.x + principalInertia.y * Row2.y * Row2.y + principalInertia.z * Row2.z * Row2.z; Iz += principalInertia.x * Row3.x * Row3.x + principalInertia.y * Row3.y * Row3.y + principalInertia.z * Row3.z * Row3.z; Ixy += principalInertia.x * Row1.x * Row2.x + principalInertia.y * Row1.y * Row2.y + principalInertia.z * Row1.z * Row2.z; Ixz += principalInertia.x * Row1.x * Row3.x + principalInertia.y * Row1.y * Row3.y + principalInertia.z * Row1.z * Row3.z; Iyz += principalInertia.x * Row2.x * Row3.x + principalInertia.y * Row2.y * Row3.y + principalInertia.z * Row2.z * Row3.z; } Ix *= 1000; Iy *= 1000; Iz *= 1000; stabDerivOutput.stabDerivs[0] = Ix; stabDerivOutput.stabDerivs[1] = Iy; stabDerivOutput.stabDerivs[2] = Iz; stabDerivOutput.stabDerivs[24] = Ixy; stabDerivOutput.stabDerivs[25] = Iyz; stabDerivOutput.stabDerivs[26] = Ixz; //This is the effect of gravity double effectiveG = InstantConditionSim.CalculateAccelerationDueToGravity(body, alt); //This is the effective reduction of gravity due to high velocity effectiveG -= u0 * u0 / (alt + body.Radius); double neededCl = mass * effectiveG / (q * area); _instantCondition.GetClCdCmSteady(input, out pertOutput, true, true); //Longitudinal Mess _instantCondition.SetState(machNumber, neededCl, CoM, 0, input.flaps, input.spoilers); FARMathUtil.OptimizationResult optResult = FARMathUtil.Secant(_instantCondition.FunctionIterateForAlpha, 0, 10, 1e-4, 1e-4, minLimit: -90, maxLimit: 90); int calls = optResult.FunctionCalls; // if stable AoA doesn't exist, calculate derivatives at 0 incidence if (!optResult.Converged) { FARLogger.Info("Stable angle of attack not found, calculating derivatives at 0 incidence instead"); alpha = 0; _instantCondition.FunctionIterateForAlpha(alpha); calls += 1; } else { alpha = optResult.Result; } input.alpha = alpha; nominalOutput = _instantCondition.iterationOutput; input.alpha = alpha + 2; _instantCondition.GetClCdCmSteady(input, out pertOutput, true, true); stabDerivOutput.stableCl = neededCl; stabDerivOutput.stableCd = nominalOutput.Cd; stabDerivOutput.stableAoA = alpha; stabDerivOutput.stableAoAState = ""; if (Math.Abs((nominalOutput.Cl - neededCl) / neededCl) > 0.1) { stabDerivOutput.stableAoAState = nominalOutput.Cl > neededCl ? "<" : ">"; } FARLogger.Info("Cl needed: " + neededCl.ToString(CultureInfo.InvariantCulture) + ", AoA: " + stabDerivOutput.stableAoA.ToString(CultureInfo.InvariantCulture) + ", Cl: " + nominalOutput.Cl.ToString(CultureInfo.InvariantCulture) + ", Cd: " + nominalOutput.Cd.ToString(CultureInfo.InvariantCulture) + ", function calls: " + calls.ToString()); //vert vel derivs pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / (2 * FARMathUtil.deg2rad); pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / (2 * FARMathUtil.deg2rad); pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / (2 * FARMathUtil.deg2rad); pertOutput.Cl += nominalOutput.Cd; pertOutput.Cd -= nominalOutput.Cl; pertOutput.Cl *= -q * area / (mass * u0); pertOutput.Cd *= -q * area / (mass * u0); pertOutput.Cm *= q * area * MAC / (Iy * u0); stabDerivOutput.stabDerivs[3] = pertOutput.Cl; //Zw stabDerivOutput.stabDerivs[4] = pertOutput.Cd; //Xw stabDerivOutput.stabDerivs[5] = pertOutput.Cm; //Mw // Rodhern: The motivation for the revised stability derivatives sign interpretations of Zq, Xq, Ze and Xe // is to align the sign conventions used for Zu, Zq, Ze, Xu, Xq and Xe. Further explanation can be found // here: https://forum.kerbalspaceprogram.com/index.php?/topic/109098-official-far-craft-repository/&do=findComment&comment=2425057 input.alpha = alpha; input.machNumber = machNumber + 0.05; _instantCondition.GetClCdCmSteady(input, out pertOutput, true); //fwd vel derivs pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05 * machNumber; pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05 * machNumber; pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05 * machNumber; pertOutput.Cl += 2 * nominalOutput.Cl; pertOutput.Cd += 2 * nominalOutput.Cd; pertOutput.Cl *= -q * area / (mass * u0); pertOutput.Cd *= -q * area / (mass * u0); pertOutput.Cm *= q * area * MAC / (u0 * Iy); stabDerivOutput.stabDerivs[6] = pertOutput.Cl; //Zu stabDerivOutput.stabDerivs[7] = pertOutput.Cd; //Xu stabDerivOutput.stabDerivs[8] = pertOutput.Cm; //Mu input.machNumber = machNumber; _instantCondition.GetClCdCmSteady(input, out pertOutput, true, true); input.alphaDot = -0.05; _instantCondition.GetClCdCmSteady(input, out pertOutput, true); //pitch rate derivs pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05; pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05; pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05; pertOutput.Cl *= -q * area * MAC / (2 * u0 * mass); // Rodhern: Replaced 'q' by '-q', so that formulas pertOutput.Cd *= -q * area * MAC / (2 * u0 * mass); // for Zq and Xq match those for Zu and Xu. pertOutput.Cm *= q * area * MAC * MAC / (2 * u0 * Iy); stabDerivOutput.stabDerivs[9] = pertOutput.Cl; //Zq stabDerivOutput.stabDerivs[10] = pertOutput.Cd; //Xq stabDerivOutput.stabDerivs[11] = pertOutput.Cm; //Mq input.alphaDot = 0; input.pitchValue = 0.1; _instantCondition.GetClCdCmSteady(input, out pertOutput, true); //elevator derivs pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.1; pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.1; pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.1; pertOutput.Cl *= -q * area / mass; // Rodhern: Replaced 'q' by '-q', so that formulas pertOutput.Cd *= -q * area / mass; // for Ze and Xe match those for Zu and Xu. pertOutput.Cm *= q * area * MAC / Iy; stabDerivOutput.stabDerivs[12] = pertOutput.Cl; //Ze stabDerivOutput.stabDerivs[13] = pertOutput.Cd; //Xe stabDerivOutput.stabDerivs[14] = pertOutput.Cm; //Me //Lateral Mess input.pitchValue = 0; input.beta = beta + 2; _instantCondition.GetClCdCmSteady(input, out pertOutput, true); //sideslip angle derivs pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / (2 * FARMathUtil.deg2rad); pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / (2 * FARMathUtil.deg2rad); pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / (2 * FARMathUtil.deg2rad); pertOutput.Cy *= q * area / mass; pertOutput.Cn *= q * area * b / Iz; pertOutput.C_roll *= q * area * b / Ix; stabDerivOutput.stabDerivs[15] = pertOutput.Cy; //Yb stabDerivOutput.stabDerivs[17] = pertOutput.Cn; //Nb stabDerivOutput.stabDerivs[16] = pertOutput.C_roll; //Lb input.beta = beta; _instantCondition.GetClCdCmSteady(input, out pertOutput, true, true); input.phiDot = -0.05; _instantCondition.GetClCdCmSteady(input, out pertOutput, true); //roll rate derivs pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05; pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05; pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05; pertOutput.Cy *= q * area * b / (2 * mass * u0); pertOutput.Cn *= q * area * b * b / (2 * Iz * u0); pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0); stabDerivOutput.stabDerivs[18] = pertOutput.Cy; //Yp stabDerivOutput.stabDerivs[20] = pertOutput.Cn; //Np stabDerivOutput.stabDerivs[19] = pertOutput.C_roll; //Lp input.phiDot = 0; _instantCondition.GetClCdCmSteady(input, out pertOutput, true, true); input.betaDot = -0.05; //yaw rate derivs _instantCondition.GetClCdCmSteady(input, out pertOutput, true); pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05f; pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05f; pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05f; pertOutput.Cy *= q * area * b / (2 * mass * u0); pertOutput.Cn *= q * area * b * b / (2 * Iz * u0); pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0); stabDerivOutput.stabDerivs[21] = pertOutput.Cy; //Yr stabDerivOutput.stabDerivs[23] = pertOutput.Cn; //Nr stabDerivOutput.stabDerivs[22] = pertOutput.C_roll; //Lr return(stabDerivOutput); }