public VelPoint(AeroPredictor vessel, CelestialBody body, float altitude, float speed)
{
this.altitude = altitude;
this.speed = speed;
AeroPredictor.Conditions conditions = new AeroPredictor.Conditions(body, speed, altitude);
float gravParameter, radius;
lock (body)
{
gravParameter = (float)body.gravParameter;
radius = (float)body.Radius;
}
this.mach = conditions.mach;
this.dynamicPressure = 0.0005f * conditions.atmDensity * speed * speed;
float weight = (vessel.Mass * gravParameter / ((radius + altitude) * (radius + altitude))) - (vessel.Mass * speed * speed / (radius + altitude));
Vector3 thrustForce = vessel.GetThrustForce(conditions);
AoA_max = vessel.GetMaxAoA(conditions, out Lift_max);
AoA_level = Mathf.Min(vessel.GetAoA(conditions, weight), AoA_max);
pitchInput = vessel.GetPitchInput(conditions, AoA_level);
Thrust_available = thrustForce.magnitude;
Vector3 force = vessel.GetAeroForce(conditions, AoA_level, pitchInput);
drag = AeroPredictor.GetDragForceMagnitude(force, AoA_level);
Thrust_excess = -drag - AeroPredictor.GetDragForceMagnitude(thrustForce, AoA_level);
Accel_excess = Thrust_excess / vessel.Mass / WindTunnelWindow.gAccel;
LDRatio = Mathf.Abs(AeroPredictor.GetLiftForceMagnitude(force, AoA_level) / drag);
dLift = (vessel.GetLiftForceMagnitude(conditions, AoA_level + WindTunnelWindow.AoAdelta, pitchInput) -
vessel.GetLiftForceMagnitude(conditions, AoA_level, pitchInput)) / (WindTunnelWindow.AoAdelta * Mathf.Rad2Deg);
}
public EnvelopePoint(AeroPredictor vessel, CelestialBody body, float altitude, float speed, float AoA_guess = float.NaN, float maxA_guess = float.NaN, float pitchI_guess = float.NaN)
{
this.altitude = altitude;
this.speed = speed;
AeroPredictor.Conditions conditions = new AeroPredictor.Conditions(body, speed, altitude);
float gravParameter, radius;
lock (body)
{
gravParameter = (float)body.gravParameter;
radius = (float)body.Radius;
}
this.mach = conditions.mach;
this.dynamicPressure = 0.0005f * conditions.atmDensity * speed * speed;
float weight = (vessel.Mass * gravParameter / ((radius + altitude) * (radius + altitude))); // TODO: Minus centrifugal force...
Vector3 thrustForce = vessel.GetThrustForce(conditions);
//AoA_max = vessel.GetMaxAoA(conditions, out Lift_max, maxA_guess);
if (float.IsNaN(maxA_guess))
{
AoA_max = vessel.GetMaxAoA(conditions, out Lift_max, maxA_guess);
}
else
{
AoA_max = maxA_guess;
Lift_max = AeroPredictor.GetLiftForceMagnitude(vessel.GetAeroForce(conditions, AoA_max, 1) + thrustForce, AoA_max);
}
AoA_level = vessel.GetAoA(conditions, weight, guess: AoA_guess, pitchInputGuess: 0, lockPitchInput: true);
if (AoA_level < AoA_max)
{
pitchInput = vessel.GetPitchInput(conditions, AoA_level, guess: pitchI_guess);
}
else
{
pitchInput = 1;
}
Thrust_available = thrustForce.magnitude;
force = vessel.GetAeroForce(conditions, AoA_level, pitchInput);
liftforce = AeroPredictor.ToFlightFrame(force, AoA_level); //vessel.GetLiftForce(body, speed, altitude, AoA_level, mach, atmDensity);
drag = AeroPredictor.GetDragForceMagnitude(force, AoA_level);
float lift = AeroPredictor.GetLiftForceMagnitude(force, AoA_level);
Thrust_excess = -drag - AeroPredictor.GetDragForceMagnitude(thrustForce, AoA_level);
if (weight > Lift_max)// AoA_level >= AoA_max)
{
Thrust_excess = Lift_max - weight;
AoA_level = AoA_max;
}
Accel_excess = (Thrust_excess / vessel.Mass / WindTunnelWindow.gAccel);
LDRatio = Mathf.Abs(lift / drag);
dLift = (vessel.GetLiftForceMagnitude(conditions, AoA_level + WindTunnelWindow.AoAdelta, pitchInput) -
vessel.GetLiftForceMagnitude(conditions, AoA_level, pitchInput)) / (WindTunnelWindow.AoAdelta * Mathf.Rad2Deg);
}
public virtual Vector3 GetLiftForce(Vector3 inflow, AeroPredictor.Conditions conditions, float AoA, float pitchInput, out Vector3 torque, Vector3 torquePoint)
{
Vector3 aeroForce = Vector3.zero;
torque = Vector3.zero;
for (int i = parts.Count - 1; i >= 0; i--)
{
if (parts[i].shieldedFromAirstream)
{
continue;
}
aeroForce += parts[i].GetLift(inflow, conditions.mach, out Vector3 pTorque, torquePoint);
torque += pTorque;
}
for (int i = surfaces.Count - 1; i >= 0; i--)
{
if (surfaces[i].part.shieldedFromAirstream)
{
continue;
}
aeroForce += surfaces[i].GetLift(inflow, conditions.mach, out Vector3 pTorque, torquePoint);
torque += pTorque;
}
for (int i = ctrls.Count - 1; i >= 0; i--)
{
if (ctrls[i].part.shieldedFromAirstream)
{
continue;
}
aeroForce += ctrls[i].GetLift(inflow, conditions.mach, pitchInput, out Vector3 pTorque, torquePoint);
torque += pTorque;
}
for (int i = partCollections.Count - 1; i >= 0; i--)
{
aeroForce += partCollections[i].GetLiftForce(inflow, conditions, AoA, pitchInput, out Vector3 pTorque, torquePoint);
torque += pTorque;
}
//float Q = 0.0005f * conditions.atmDensity * conditions.speed * conditions.speed;
//torque *= Q;
return(aeroForce); // * Q;
}
public AoAPoint(AeroPredictor vessel, CelestialBody body, float altitude, float speed, float AoA)
{
this.altitude = altitude;
this.speed = speed;
AeroPredictor.Conditions conditions = new AeroPredictor.Conditions(body, speed, altitude);
this.AoA = AoA;
this.mach = conditions.mach;
this.dynamicPressure = 0.0005f * conditions.atmDensity * speed * speed;
this.pitchInput = vessel.GetPitchInput(conditions, AoA);
this.pitchInput_dry = vessel.GetPitchInput(conditions, AoA, true);
Vector3 force = AeroPredictor.ToFlightFrame(vessel.GetAeroForce(conditions, AoA, pitchInput), AoA);
torque = vessel.GetAeroTorque(conditions, AoA).x;
torque_dry = vessel.GetAeroTorque(conditions, AoA, 0, true).x;
Lift = force.y;
Drag = -force.z;
LDRatio = Mathf.Abs(Lift / Drag);
dLift = (vessel.GetLiftForceMagnitude(conditions, AoA + WindTunnelWindow.AoAdelta, pitchInput) - Lift) /
(WindTunnelWindow.AoAdelta * Mathf.Rad2Deg);
}
private static void GetStabilityValues(AeroPredictor vessel, AeroPredictor.Conditions conditions, float AoA_centre, out float stabilityRange, out float stabilityScore)
{
const int step = 5;
const int range = 90;
const int alphaSteps = range / step;
float[] torques = new float[2 * alphaSteps + 1];
float[] aoas = new float[2 * alphaSteps + 1];
int start, end;
for (int i = 0; i <= 2 * alphaSteps; i++)
{
aoas[i] = (i - alphaSteps) * step * Mathf.Deg2Rad;
torques[i] = vessel.GetAeroTorque(conditions, aoas[i], 0).x;
}
int eq = 0 + alphaSteps;
int dir = (int)Math.Sign(torques[eq]);
if (dir == 0)
{
start = eq - 1;
end = eq + 1;
}
else
{
while (eq > 0 && eq < 2 * alphaSteps)
{
eq += dir;
if (Math.Sign(torques[eq]) != dir)
{
break;
}
}
if (eq == 0 || eq == 2 * alphaSteps)
{
stabilityRange = 0;
stabilityScore = 0;
return;
}
if (dir < 0)
{
start = eq;
end = eq + 1;
}
else
{
start = eq - 1;
end = eq;
}
}
while (torques[start] > 0 && start > 0)
{
start -= 1;
}
while (torques[end] < 0 && end < 2 * alphaSteps - 1)
{
end += 1;
}
float min = (Mathf.InverseLerp(torques[start], torques[start + 1], 0) + start) * step;
float max = (-Mathf.InverseLerp(torques[end], torques[end - 1], 0) + end) * step;
stabilityRange = max - min;
stabilityScore = 0;
for (int i = start; i < end; i++)
{
stabilityScore += (torques[i] + torques[i + 1]) / 2 * step;
}
}
public EnvelopePoint(AeroPredictor vessel, CelestialBody body, float altitude, float speed, float AoA_guess = float.NaN, float maxA_guess = float.NaN, float pitchI_guess = float.NaN)
{
this.altitude = altitude;
this.speed = speed;
AeroPredictor.Conditions conditions = new AeroPredictor.Conditions(body, speed, altitude);
float gravParameter, radius;
gravParameter = (float)body.gravParameter;
radius = (float)body.Radius;
this.mach = conditions.mach;
this.dynamicPressure = 0.0005f * conditions.atmDensity * speed * speed;
float weight = (vessel.Mass * gravParameter / ((radius + altitude) * (radius + altitude))) - (vessel.Mass * speed * speed / (radius + altitude));
Vector3 thrustForce = vessel.GetThrustForce(conditions);
fuelBurnRate = vessel.GetFuelBurnRate(conditions);
//AoA_max = vessel.GetMaxAoA(conditions, out Lift_max, maxA_guess);
if (float.IsNaN(maxA_guess))
{
AoA_max = vessel.GetMaxAoA(conditions, out Lift_max, maxA_guess);
//Lift_max = AeroPredictor.GetLiftForceMagnitude(vessel.GetAeroForce(conditions, AoA_max, 1) + thrustForce, AoA_max);
}
else
{
AoA_max = maxA_guess;
Lift_max = AeroPredictor.GetLiftForceMagnitude(vessel.GetAeroForce(conditions, AoA_max, 1) + thrustForce, AoA_max);
}
AoA_level = vessel.GetAoA(conditions, weight, guess: AoA_guess, pitchInputGuess: 0, lockPitchInput: true);
if (AoA_level < AoA_max)
{
pitchInput = vessel.GetPitchInput(conditions, AoA_level, guess: pitchI_guess);
}
else
{
pitchInput = 1;
}
if (speed < 5 && Math.Abs(altitude) < 10)
{
AoA_level = 0;
}
Thrust_available = thrustForce.magnitude;
//vessel.GetAeroCombined(conditions, AoA_level, pitchInput, out force, out Vector3 torque);
force = vessel.GetAeroForce(conditions, AoA_level, pitchInput);
aeroforce = AeroPredictor.ToFlightFrame(force, AoA_level); //vessel.GetLiftForce(body, speed, altitude, AoA_level, mach, atmDensity);
drag = -aeroforce.z;
float lift = aeroforce.y;
Thrust_excess = -drag - AeroPredictor.GetDragForceMagnitude(thrustForce, AoA_level);
if (weight > Lift_max)// AoA_level >= AoA_max)
{
Thrust_excess = Lift_max - weight;
AoA_level = AoA_max;
}
Accel_excess = (Thrust_excess / vessel.Mass / WindTunnelWindow.gAccel);
LDRatio = Math.Abs(lift / drag);
dLift = (vessel.GetLiftForceMagnitude(conditions, AoA_level + WindTunnelWindow.AoAdelta, pitchInput) - lift)
/ (WindTunnelWindow.AoAdelta * Mathf.Rad2Deg);
//stabilityDerivative = (vessel.GetAeroTorque(conditions, AoA_level + WindTunnelWindow.AoAdelta, pitchInput).x - torque.x)
// / (WindTunnelWindow.AoAdelta * Mathf.Rad2Deg);
//GetStabilityValues(vessel, conditions, AoA_level, out stabilityRange, out stabilityScore);
completed = true;
}
public override Vector3 GetLiftForce(Vector3 inflow, AeroPredictor.Conditions conditions, float pitchInput, out Vector3 torque, Vector3 torquePoint)
{
Vector3 aeroForce = Vector3.zero;
torque = Vector3.zero;
int rotationCount = WindTunnelSettings.Instance.rotationCount;
float Q = 0.0005f * conditions.atmDensity;
// The root part is the rotor hub, so since the rotating mesh is usually cylindrical we
// only need to evaluate this part once.
if (!parts[0].shieldedFromAirstream)
{
float localMach = inflow.magnitude;
float localVelFactor = localMach * localMach;
float localPRDM;
lock (PhysicsGlobals.DragCurvePseudoReynolds)
localPRDM = PhysicsGlobals.DragCurvePseudoReynolds.Evaluate(conditions.atmDensity * localMach);
localMach /= conditions.speedOfSound;
aeroForce += parts[0].GetAero(inflow.normalized, localMach, localPRDM, out Vector3 pTorque, origin) * localVelFactor * Q;
torque += pTorque * localVelFactor * Q;
}
for (int r = 0; r < rotationCount; r++)
{
Quaternion rotation = Quaternion.AngleAxis(360f / rotationCount * r, axis);
Vector3 rTorque = Vector3.zero;
Vector3 rAeroForce = Vector3.zero;
// Rotate inflow
Vector3 rotatedInflow = rotation * inflow;
// Calculate forces
for (int i = parts.Count - 1; i >= 1; i--)
{
if (parts[i].shieldedFromAirstream)
{
continue;
}
//Vector3 partMotion = Vector3.Cross(axis, (parts[i].transformPosition - origin)) * angularVelocity + rotatedInflow;
Vector3 partMotion = Vector3.Cross((parts[i].transformPosition - origin), axis) * angularVelocity + rotatedInflow;
Vector3 partInflow = partMotion.normalized;
float localMach = partMotion.magnitude;
float localVelFactor = localMach * localMach;
localMach /= conditions.speedOfSound;
rAeroForce += parts[i].GetLift(partInflow, localMach, out Vector3 pTorque, torquePoint) * localVelFactor;
rTorque += pTorque * localVelFactor;
}
for (int i = surfaces.Count - 1; i >= 0; i--)
{
if (surfaces[i].part.shieldedFromAirstream)
{
continue;
}
//Vector3 partMotion = Vector3.Cross(axis, (surfaces[i].part.transformPosition + surfaces[i].velocityOffset - origin)) * angularVelocity + rotatedInflow;
Vector3 partMotion = Vector3.Cross((surfaces[i].part.transformPosition + surfaces[i].velocityOffset - origin), axis) * angularVelocity + rotatedInflow;
Vector3 partInflow = partMotion.normalized;
float localMach = partMotion.magnitude;
float localVelFactor = localMach * localMach;
localMach /= conditions.speedOfSound;
rAeroForce += surfaces[i].GetLift(partInflow, localMach, out Vector3 pTorque, torquePoint) * localVelFactor;
rTorque += pTorque * localVelFactor;
}
for (int i = ctrls.Count - 1; i >= 0; i--)
{
if (ctrls[i].part.shieldedFromAirstream)
{
continue;
}
//Vector3 partMotion = Vector3.Cross(axis, (ctrls[i].part.transformPosition + ctrls[i].velocityOffset - origin)) * angularVelocity + rotatedInflow;
Vector3 partMotion = Vector3.Cross((ctrls[i].part.transformPosition + ctrls[i].velocityOffset - origin), axis) * angularVelocity + rotatedInflow;
Vector3 partInflow = partMotion.normalized;
float localMach = partMotion.magnitude;
float localVelFactor = localMach * localMach;
localMach /= conditions.speedOfSound;
rAeroForce += ctrls[i].GetLift(partInflow, localMach, pitchInput, out Vector3 pTorque, torquePoint) * localVelFactor;
rTorque += pTorque * localVelFactor;
}
rTorque *= Q;
rAeroForce *= Q;
for (int i = partCollections.Count - 1; i >= 0; i--)
{
//Vector3 partMotion = Vector3.Cross(axis, partCollections[i].origin - this.origin) * angularVelocity;
Vector3 partMotion = Vector3.Cross(partCollections[i].origin - this.origin, axis) * angularVelocity;
rAeroForce += partCollections[i].GetLiftForce(rotatedInflow + partMotion, conditions, pitchInput, out Vector3 pTorque, torquePoint);
rTorque += pTorque;
}
// Rotate torque backwards
rTorque = Quaternion.AngleAxis(-360f / rotationCount * r, axis) * rTorque;
torque += rTorque;
aeroForce += rAeroForce;
}
aeroForce /= rotationCount;
torque /= rotationCount;
torque += Vector3.Cross(aeroForce, origin - torquePoint);
return(aeroForce);
}
public override Vector3 GetAeroForce(Vector3 inflow, AeroPredictor.Conditions conditions, float pitchInput, out Vector3 torque, Vector3 torquePoint)
{
Vector3 aeroForce = Vector3.zero;
torque = Vector3.zero;
int rotationCount = WindTunnelSettings.Instance.rotationCount;
float Q = 0.0005f * conditions.atmDensity;
// The root part is the rotor hub, so since the rotating mesh is usually cylindrical we
// only need to evaluate this part once.
if (!parts[0].shieldedFromAirstream)
{
float localMach = inflow.magnitude;
float localVelFactor = localMach * localMach;
float localPRDM;
lock (PhysicsGlobals.DragCurvePseudoReynolds)
localPRDM = PhysicsGlobals.DragCurvePseudoReynolds.Evaluate(conditions.atmDensity * localMach);
localMach /= conditions.speedOfSound;
aeroForce += parts[0].GetAero(inflow.normalized, localMach, localPRDM, out Vector3 pTorque, origin) * localVelFactor * Q;
torque += pTorque * localVelFactor * Q;
}
for (int r = 0; r < rotationCount; r++)
{
Quaternion rotation = Quaternion.AngleAxis(360f / rotationCount * r, axis);
Vector3 rTorque = Vector3.zero;
Vector3 rAeroForce = Vector3.zero;
// Rotate inflow
Vector3 rotatedInflow = rotation * inflow;
// Calculate forces
for (int i = parts.Count - 1; i >= 1; i--)
{
if (parts[i].shieldedFromAirstream)
{
continue;
}
Vector3 partMotion = Vector3.Cross(axis, (parts[i].transformPosition - origin)) * angularVelocity + rotatedInflow;
//Vector3 partMotion = Vector3.Cross((parts[i].transformPosition - origin), axis) * angularVelocity + rotatedInflow;
Vector3 partInflow = partMotion.normalized;
float localMach = partMotion.magnitude;
float localVelFactor = localMach * localMach;
float localPRDM;
lock (PhysicsGlobals.DragCurvePseudoReynolds)
localPRDM = PhysicsGlobals.DragCurvePseudoReynolds.Evaluate(conditions.atmDensity * localMach);
localMach /= conditions.speedOfSound;
rAeroForce += parts[i].GetAero(partInflow, localMach, localPRDM, out Vector3 pTorque, origin) * localVelFactor;
rTorque += pTorque * localVelFactor;
}
for (int i = surfaces.Count - 1; i >= 0; i--)
{
if (surfaces[i].part.shieldedFromAirstream)
{
continue;
}
Vector3 partMotion = Vector3.Cross(axis, (surfaces[i].part.transformPosition + surfaces[i].velocityOffset - origin)) * angularVelocity + rotatedInflow;
//Vector3 partMotion = Vector3.Cross((surfaces[i].part.transformPosition + surfaces[i].velocityOffset - origin), axis) * angularVelocity + rotatedInflow;
Vector3 partInflow = partMotion.normalized;
float localMach = partMotion.magnitude;
float localVelFactor = localMach * localMach;
localMach /= conditions.speedOfSound;
rAeroForce += surfaces[i].GetForce(partInflow, localMach, out Vector3 pTorque, origin) * localVelFactor;
rTorque += pTorque * localVelFactor;
if (conditions.altitude <= 50 && conditions.speed >= 15 && conditions.speed < 25 && Vector3.Angle(inflow, Vector3.forward) < 10)
{
if (i == surfaces.Count - 1)
{
Debug.LogFormat("\nAxis {0}\tAngularVelocity {1}\nSpeed {2}\tAltitude {3}", axis, angularVelocity, conditions.speed, conditions.altitude);
}
Debug.LogFormat("Surface {4}\tInflow {0}\tPartMotion {1}\tTorque {2}\tAeroForce{3}", rotatedInflow, partMotion, Quaternion.AngleAxis(-360f / rotationCount * r, axis) * pTorque, surfaces[i].GetForce(inflow + partMotion, conditions.mach, out _, origin), i);
}
}
for (int i = ctrls.Count - 1; i >= 0; i--)
{
if (ctrls[i].part.shieldedFromAirstream)
{
continue;
}
Vector3 partMotion = Vector3.Cross(axis, (ctrls[i].part.transformPosition + ctrls[i].velocityOffset - origin)) * angularVelocity + rotatedInflow;
//Vector3 partMotion = Vector3.Cross((ctrls[i].part.transformPosition + ctrls[i].velocityOffset - origin), axis) * angularVelocity + rotatedInflow;
Vector3 partInflow = partMotion.normalized;
float localMach = partMotion.magnitude;
float localVelFactor = localMach * localMach;
float localPRDM;
lock (PhysicsGlobals.DragCurvePseudoReynolds)
localPRDM = PhysicsGlobals.DragCurvePseudoReynolds.Evaluate(conditions.atmDensity * localMach);
localMach /= conditions.speedOfSound;
rAeroForce += ctrls[i].GetForce(partInflow, localMach, pitchInput, localPRDM, out Vector3 pTorque, origin) * localVelFactor;
rTorque += pTorque * localVelFactor;
if (conditions.altitude <= 50 && conditions.speed >= 15 && conditions.speed < 25 && Vector3.Angle(inflow, Vector3.forward) < 10)
{
if (i == ctrls.Count - 1 && surfaces.Count == 0)
{
Debug.LogFormat("\nAxis {0}\tAngularVelocity {1}\nSpeed {2}\tAltitude {3}\tRotated Inflow {4}", axis, angularVelocity, conditions.speed, conditions.altitude, rotatedInflow);
float surfaceInput = 0;
if (!ctrls[i].ignorePitch)
{
Vector3 input = ctrls[i].inputRotation * new Vector3(!ctrls[i].ignorePitch ? pitchInput : 0, 0, 0);
surfaceInput = Vector3.Dot(input, ctrls[i].rotationAxis);
surfaceInput *= ctrls[i].authorityLimiter * 0.01f;
surfaceInput = Mathf.Clamp(surfaceInput, -1, 1);
}
if (ctrls[i].deployed)
{
surfaceInput += ctrls[i].deployAngle;
surfaceInput = Mathf.Clamp(surfaceInput, -1.5f, 1.5f);
}
surfaceInput *= ctrls[i].deflectionDirection;
Vector3 relLiftVector;
if (surfaceInput != 0)
{
relLiftVector = Quaternion.AngleAxis(ctrls[i].ctrlSurfaceRange * surfaceInput, ctrls[i].rotationAxis) * ctrls[i].liftVector;
}
else
{
relLiftVector = ctrls[i].liftVector;
}
float dot = Vector3.Dot(partInflow, relLiftVector);
float absdot = ctrls[i].omnidirectional ? Math.Abs(dot) : Mathf.Clamp01(dot);
Vector3 lift = Vector3.zero;
lock (ctrls[i].liftCurve)
lift = -relLiftVector *Math.Sign(dot) * ctrls[i].liftCurve.Evaluate(absdot) * ctrls[i].liftMachCurve.Evaluate(localMach) * ctrls[i].deflectionLiftCoeff * PhysicsGlobals.LiftMultiplier;
if (ctrls[i].perpendicularOnly)
{
lift = Vector3.ProjectOnPlane(lift, -partInflow);
}
Debug.LogFormat("Inflow vector: {3}\tBase lift vector: {0}\tCtrl lift vector: {1}\tDot: {2}\tAoA: {4}", ctrls[i].liftVector, relLiftVector, dot, partInflow, Mathf.Acos(-dot) * Mathf.Rad2Deg);
Debug.LogFormat("Lifting surface forces: {0} (without part drag)", lift * 1000 * Q * localVelFactor);
}
Debug.LogFormat("Ctrl {3}\tPartMotion {0}\tTorque {1}\tAeroForce{2}", partMotion, Quaternion.AngleAxis(-360f / rotationCount * r, axis) * pTorque * Q, ctrls[i].GetForce(inflow + partMotion, conditions.mach, pitchInput, conditions.pseudoReDragMult, out _, origin) * localVelFactor * Q, i);
}
}
rTorque *= Q;
rAeroForce *= Q;
for (int i = partCollections.Count - 1; i >= 0; i--)
{
//Vector3 partMotion = Vector3.Cross(axis, (parts[i].transformPosition - origin)) * angularVelocity;
Vector3 partMotion = Vector3.Cross((parts[i].transformPosition - origin), axis) * angularVelocity;
rAeroForce += partCollections[i].GetAeroForce(rotatedInflow + partMotion, conditions, pitchInput, out Vector3 pTorque, origin);
rTorque += pTorque;
}
// Rotate torque backwards
rTorque = Quaternion.AngleAxis(-360f / rotationCount * r, axis) * rTorque;
torque += rTorque;
aeroForce += rAeroForce;
}
aeroForce /= rotationCount;
torque /= rotationCount;
if (conditions.altitude <= 50 && conditions.speed >= 15 && conditions.speed < 25 && Vector3.Angle(inflow, Vector3.forward) < 10)
{
Debug.LogFormat("Aeroforce {0}\tTorque {1}", aeroForce, torque);
}
torque += Vector3.Cross(aeroForce, origin - torquePoint);
return(aeroForce);
}
public virtual void GetAeroCombined(Vector3 inflow, AeroPredictor.Conditions conditions, float AoA, float pitchInput, out Vector3 forces, out Vector3 torques, Vector3 torquePoint)
{
forces = GetAeroForce(inflow, conditions, AoA, pitchInput, out torques, torquePoint);
}
public virtual Vector3 GetAeroTorque(Vector3 inflow, AeroPredictor.Conditions conditions, float AoA, Vector3 torquePoint, float pitchInput = 0)
{
GetAeroForce(inflow, conditions, AoA, pitchInput, out Vector3 torque, torquePoint);
return(torque);
}
