gattispilot
Addon Developer
Thanks. So the turning stuff should come first?
Project LER for 2016
- Thread starter gattispilot
- Start date
Check my code of GeneralVehicle but if I remember correctly yes, since the delta latitude and longitude are using heading, first the correct heading should be calculated.
gattispilot
Addon Developer
Ok. So I got it to turn and do some crab walk. But for somereason I don't see the mesh when I am in f1 mode.
Code:
iMeshMain = AddMesh("LER8");
SetMeshVisibilityMode(iMeshMain, MESHVIS_ALWAYS);
Code:
void LER2016::MoveAround(){
double theta = 0;
Max_Steering_Angle = 360;
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
double sinTurn = sin(2 * PI * TURN_proc);
double cosTurn = cos(2 * PI * TURN_proc);
if (FORWARDgear==1)
{
if (i3 < 0){
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
if (i3 > 0){
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
double d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
//double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
//double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
if (REVERSEgear == 1)
{
if (i3 > 0){
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
}
if (i3 < 0){
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
double d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg)/each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) /each_deg);
vs2.surf_lat -= d_lat*RAD;
vs2.surf_lng -= d_lng*RAD;
}
// sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f ANg %2.2f", targetSpeed, vs2.surf_hdg, AngSpeed);
lng = vs2.surf_lng;
lat = vs2.surf_lat;
hdg = vs2.surf_hdg;
{
MATRIX3 rot1 = RotationMatrix(_V(0 * RAD, (90 * RAD - lng), 0 * RAD), TRUE);
MATRIX3 rot2 = RotationMatrix(_V(-lat + 0 * RAD, 0, 0 * RAD), TRUE);
MATRIX3 rot3 = RotationMatrix(_V(0, 0, 180 * RAD + hdg), TRUE);
MATRIX3 rot4 = RotationMatrix(_V(90 * RAD, 0, 0), TRUE);
//MATRIX3 rot4 = RotationMatrix(_V(90 * RAD - pitch_angle, 0, roll_angle), TRUE);
// MATRIX3 rot_pitch = RotationMatrix(_V(pitch_angle, 0, 0));
// MATRIX3 rot_roll = RotationMatrix(_V(0, 0, roll_angle));
MATRIX3 RotMatrix_Def = mul(rot1, mul(rot2, mul(rot3, rot4)));
vs2.arot.x = atan2(RotMatrix_Def.m23, RotMatrix_Def.m33);
vs2.arot.y = -asin(RotMatrix_Def.m13);
vs2.arot.z = atan2(RotMatrix_Def.m12, RotMatrix_Def.m11);
}
vs2.vrot.x = 2.35;
//sprintf(oapiDebugString(), "targetSpeed %2.2f d_lat %2.2f d_lng %2.2f,rt %2.2f degree %2.2f hdg %2.2f", targetSpeed, vs2.surf_lat, vs2.surf_lng, rt, each_deg, vs2.surf_hdg);
//sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f d_hdg %2.2f,hdg %2.2f", targetSpeed, i, d_hdg, vs2.surf_hdg);
DefSetStateEx(&vs2);
return;
}gattispilot
Addon Developer
Well I got most working. Because I am not using thrust to move no speed is shown on the HUD. So I think I may need to add to the hud.
The 360 turning of wheels is working too well either.
The 360 turning of wheels is working too well either.
Code:
void LER2016::MoveAround(){
double theta = 0;
Max_Steering_Angle = 360;
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
double sinTurn = sin(2 * PI * TURN_proc);
double cosTurn = cos(2 * PI * TURN_proc);
if (FORWARDgear==1)
{
if (i3 < 0){
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
if (i3 > 0){
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
double d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
//double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
//double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}gattispilot
Addon Developer
https://drive.google.com/open?id=1R-Hcw6nnTNtFIdCjKSaPGpgooUwcaoZ_
So this is what I have so far.
Keyboard keys:
1 opens door
2 opens door
4 quickly straighten wheels
5/6 rotate wheels
7 lights on/off
J sunscreen
G camera position
keypad
8 forward gear
2 reverse gear
+ more speed
- less speed
1/3 rudder controls
So for normal steering use 1/3 keypad. Hold it hold for the turns. Let up and the LER will go that heading.
Then for position changing use 5/6. The heading doesn't change but the position does.
So this is what I have so far.
Keyboard keys:
1 opens door
2 opens door
4 quickly straighten wheels
5/6 rotate wheels
7 lights on/off
J sunscreen
G camera position
keypad
8 forward gear
2 reverse gear
+ more speed
- less speed
1/3 rudder controls
So for normal steering use 1/3 keypad. Hold it hold for the turns. Let up and the LER will go that heading.
Then for position changing use 5/6. The heading doesn't change but the position does.
gattispilot
Addon Developer
This is weird. So I placed in at Brighton Beach and it did like it should. But put somewhere else on the moon. And she drives badly.
LER2016:LER5
STATUS Landed Moon
POS 2.6934640 -86.0896775
HEADING -771580622026416660000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000.00
ALT 2.350
AROT 176.843 -40.480 5.138
Not sure why the heading value is crazy:
i3 is the rudder
I re ran it and still has issues.
LER2016:LER5
STATUS Landed Moon
POS 2.6845745 -86.0917536
HEADING 247.66
ALT 2.350
AROT -178.424 19.600 4.144
AFCMODE 7
IDS 0:560 100 1:564 100
NAVFREQ 0 0
DOORL 1 0.0000
DOORR 1 0.0000
SUNSCREEN 1 1.0000
END
It doesn't seem to turn correctly
LER2016:LER5
STATUS Landed Moon
POS 2.6934640 -86.0896775
HEADING -771580622026416660000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000.00
ALT 2.350
AROT 176.843 -40.480 5.138
Not sure why the heading value is crazy:
Code:
void LER2016::MoveAround(){
double theta = 0;
Max_Steering_Angle = 360;
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
double sinTurn = sin(2*PI * TURN_proc);
double cosTurn = cos(2*PI * TURN_proc);
if (FORWARDgear==1)
{
if (i3 < 0){
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
if (i3 > 0){
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
// sprintf (oapiDebugString (), "turn %2.2f cos %2.2f sin %2.2f", TURN_proc, cosTurn, sinTurn );
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
if (TURN_proc == 0){
double d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
//double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
//double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
}
if (REVERSEgear == 1)
{
if (i3 > 0){
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
}
if (i3 < 0){
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat -= d_lat*RAD;
vs2.surf_lng -= d_lng*RAD;
}
if (TURN_proc == 0){
double d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
double d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
//double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
//double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat -= d_lat*RAD;
vs2.surf_lng -= d_lng*RAD;
}
}
// sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f ANg %2.2f", targetSpeed, vs2.surf_hdg, AngSpeed);
lng = vs2.surf_lng;
lat = vs2.surf_lat;
hdg = vs2.surf_hdg;
{
MATRIX3 rot1 = RotationMatrix(_V(0 * RAD, (90 * RAD - lng), 0 * RAD), TRUE);
MATRIX3 rot2 = RotationMatrix(_V(-lat + 0 * RAD, 0, 0 * RAD), TRUE);
MATRIX3 rot3 = RotationMatrix(_V(0, 0, 180 * RAD + hdg), TRUE);
MATRIX3 rot4 = RotationMatrix(_V(90 * RAD, 0, 0), TRUE);
//MATRIX3 rot4 = RotationMatrix(_V(90 * RAD - pitch_angle, 0, roll_angle), TRUE);
// MATRIX3 rot_pitch = RotationMatrix(_V(pitch_angle, 0, 0));
// MATRIX3 rot_roll = RotationMatrix(_V(0, 0, roll_angle));
MATRIX3 RotMatrix_Def = mul(rot1, mul(rot2, mul(rot3, rot4)));
vs2.arot.x = atan2(RotMatrix_Def.m23, RotMatrix_Def.m33);
vs2.arot.y = -asin(RotMatrix_Def.m13);
vs2.arot.z = atan2(RotMatrix_Def.m12, RotMatrix_Def.m11);
}
vs2.vrot.x = 2.35;
//sprintf(oapiDebugString(), "targetSpeed %2.2f d_lat %2.2f d_lng %2.2f,rt %2.2f degree %2.2f hdg %2.2f", targetSpeed, vs2.surf_lat, vs2.surf_lng, rt, each_deg, vs2.surf_hdg);
//sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f d_hdg %2.2f,hdg %2.2f", targetSpeed, i, d_hdg, vs2.surf_hdg);
DefSetStateEx(&vs2);
return;
}I re ran it and still has issues.
LER2016:LER5
STATUS Landed Moon
POS 2.6845745 -86.0917536
HEADING 247.66
ALT 2.350
AROT -178.424 19.600 4.144
AFCMODE 7
IDS 0:560 100 1:564 100
NAVFREQ 0 0
DOORL 1 0.0000
DOORR 1 0.0000
SUNSCREEN 1 1.0000
END
It doesn't seem to turn correctly
Urwumpe
Not funny anymore
- Joined
- Feb 6, 2008
- Messages
- 37,605
- Reaction score
- 2,325
- Points
- 203
- Location
- Wolfsburg
- Preferred Pronouns
- Sire
Is d_hdg initialized?
---------- Post added at 13:11 ---------- Previous post was at 13:09 ----------
And better pay attention to a less chaotic source code formatting - its terribly hard to read your code because the } are travelling around wildly.
---------- Post added at 13:21 ---------- Previous post was at 13:11 ----------
For example: This is your code after doing some cheap formatting work on it.
Notice the difference? Its BTW really easy to see which code is yours and which code you got from somebody else and which was just copy and pasted into the right place: Your unknown contributor used more whitespaces (And can thus expect a higher income as software developer, as scientific studies have shown.)
---------- Post added at 13:11 ---------- Previous post was at 13:09 ----------
And better pay attention to a less chaotic source code formatting - its terribly hard to read your code because the } are travelling around wildly.
---------- Post added at 13:21 ---------- Previous post was at 13:11 ----------
For example: This is your code after doing some cheap formatting work on it.
Code:
void LER2016::MoveAround() {
double theta = 0;
Max_Steering_Angle = 360;
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
double sinTurn = sin(2*PI * TURN_proc);
double cosTurn = cos(2*PI * TURN_proc);
if (FORWARDgear == 1) {
if (i3 < 0) {
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0) {
vs2.surf_hdg += 2 * PI;
}
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
else if (i3 > 0) {
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg > 2 * PI) {
vs2.surf_hdg -= 2 * PI;
}
}
else if (i3 == 0) { // straight so straighten wheels
// sprintf (oapiDebugString (), "turn %2.2f cos %2.2f sin %2.2f", TURN_proc, cosTurn, sinTurn );
if (abs(rot) <= 0.005)
rot = 0;
else if (rot < 0)
rot += 0.005;
else if (rot > 0)
rot -= 0.005;
double d_lat = (targetSpeed * oapiGetSimStep() * cosTurn / each_deg);
double d_lng = (targetSpeed * oapiGetSimStep() * sinTurn / each_deg);
vs2.surf_lat += d_lat * RAD;
vs2.surf_lng += d_lng * RAD;
}
if (TURN_proc == 0) {
double d_lat = (targetSpeed * oapiGetSimStep() * cos(vs2.surf_hdg) / each_deg);
double d_lng = (targetSpeed * oapiGetSimStep() * sin(vs2.surf_hdg) / each_deg);
//double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
//double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat += d_lat * RAD;
vs2.surf_lng += d_lng * RAD;
}
}
if (REVERSEgear == 1) {
if (i3 > 0) {
d_hdg = d_hdg + .000001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg < 0) {
vs2.surf_hdg += 2 * PI;
}
}
if (i3 < 0) {
d_hdg = d_hdg - .0000001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg > 2 * PI) {
vs2.surf_hdg -= 2 * PI;
}
}
if (i3 == 0) {// straight so straighten wheels
if (abs(rot) <= 0.005)
rot = 0;
else if (rot < 0)
rot += 0.005;
else if (rot > 0)
rot -= 0.005;
double d_lat = (targetSpeed * oapiGetSimStep() * cosTurn / each_deg);
double d_lng = (targetSpeed * oapiGetSimStep() * sinTurn / each_deg);
vs2.surf_lat -= d_lat * RAD;
vs2.surf_lng -= d_lng * RAD;
}
if (TURN_proc == 0) {
double d_lat = (targetSpeed * oapiGetSimStep() * cos(vs2.surf_hdg) / each_deg);
double d_lng = (targetSpeed * oapiGetSimStep() * sin(vs2.surf_hdg) / each_deg);
//double d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
//double d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
vs2.surf_lat -= d_lat * RAD;
vs2.surf_lng -= d_lng * RAD;
}
}
//sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f ANg %2.2f", targetSpeed, vs2.surf_hdg, AngSpeed);
lng = vs2.surf_lng;
lat = vs2.surf_lat;
hdg = vs2.surf_hdg;
//????????????????????????????????????????????????????
{
MATRIX3 rot1 = RotationMatrix(_V(0 * RAD, (90 * RAD - lng), 0 * RAD), TRUE);
MATRIX3 rot2 = RotationMatrix(_V(-lat + 0 * RAD, 0, 0 * RAD), TRUE);
MATRIX3 rot3 = RotationMatrix(_V(0, 0, 180 * RAD + hdg), TRUE);
MATRIX3 rot4 = RotationMatrix(_V(90 * RAD, 0, 0), TRUE);
//MATRIX3 rot4 = RotationMatrix(_V(90 * RAD - pitch_angle, 0, roll_angle), TRUE);
// MATRIX3 rot_pitch = RotationMatrix(_V(pitch_angle, 0, 0));
// MATRIX3 rot_roll = RotationMatrix(_V(0, 0, roll_angle));
MATRIX3 RotMatrix_Def = mul(rot1, mul(rot2, mul(rot3, rot4)));
vs2.arot.x = atan2(RotMatrix_Def.m23, RotMatrix_Def.m33);
vs2.arot.y = -asin(RotMatrix_Def.m13);
vs2.arot.z = atan2(RotMatrix_Def.m12, RotMatrix_Def.m11);
}
vs2.vrot.x = 2.35;
//sprintf(oapiDebugString(), "targetSpeed %2.2f d_lat %2.2f d_lng %2.2f,rt %2.2f degree %2.2f hdg %2.2f", targetSpeed, vs2.surf_lat, vs2.surf_lng, rt, each_deg, vs2.surf_hdg);
//sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f d_hdg %2.2f,hdg %2.2f", targetSpeed, i, d_hdg, vs2.surf_hdg);
DefSetStateEx(&vs2);
return;
}Notice the difference? Its BTW really easy to see which code is yours and which code you got from somebody else and which was just copy and pasted into the right place: Your unknown contributor used more whitespaces (And can thus expect a higher income as software developer, as scientific studies have shown.)
hope you are right there :lol:
gattispilot
Addon Developer
Thanks. So in Vision Studio is there a way to see which brackets are matched?
I will correct my format.
I drove it some more. No more heading issue. But then it got to a spot where it just spun its wheels.
As I see it using the rudder control changes the heading. But by rotating the wheels in the Z axis then the vehicle will keep the heading but move in that direction. TURN_proc is 0 if going straight.
I will correct my format.
I drove it some more. No more heading issue. But then it got to a spot where it just spun its wheels.
As I see it using the rudder control changes the heading. But by rotating the wheels in the Z axis then the vehicle will keep the heading but move in that direction. TURN_proc is 0 if going straight.
gattispilot
Addon Developer
I think the turning needs looked at.
So i3 is the rudder postion -1 left turn, 0 straight, 1 right turn
So if left rudder is selected.
d_hdg is increased. this is the rate of heading change.
vs2.surf_hdg -= d_hdg; change heading - heading change
The rest is just to tell the wheels how much to rotate.
So i3 is the rudder postion -1 left turn, 0 straight, 1 right turn
Code:
void LER2016::MoveAround(){
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
double sinTurn = sin(2*PI * TURN_proc);
double cosTurn = cos(2*PI * TURN_proc);
if (FORWARDgear==1)
{
if (i3 < 0){
d_hdg = d_hdg + .00001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
if (i3 > 0){
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg - .00001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
// sprintf (oapiDebugString (), "turn %2.2f cos %2.2f sin %2.2f", TURN_proc, cosTurn, sinTurn );
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
}
if (TURN_proc == 0){//wheels are straight so move with heading
d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
}
else {//wheels are not straight so move no matter the heading
d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
}
//sprintf(oapiDebugString(), "turn %2.2f cos %2.2f sin %2.2f lat %2.2f lng %2.2f", TURN_proc, cosTurn, sinTurn, d_lat, d_lng);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}So if left rudder is selected.
d_hdg is increased. this is the rate of heading change.
vs2.surf_hdg -= d_hdg; change heading - heading change
The rest is just to tell the wheels how much to rotate.
gattispilot
Addon Developer
So one thing not sure about.
I started to climb a hill. And the LER stayed level rather than tilt back to follow the slope?
I started to climb a hill. And the LER stayed level rather than tilt back to follow the slope?
Code:
{
VISHANDLE MainExternalMeshVisual = 0;
static const int ntdvtx = 3;
static TOUCHDOWNVTX tdvtx[ntdvtx] = {
{ _V(0, -2.35, 1.5), 26150.8, 18409.6, 3.2, 0.8 },
{ _V(-2, -2.35, -2.6), 26150.8, 18409.6, 3.2, 0.4 },
{ _V(2, -2.35, -2.6), 26150.8, 18409.6, 3.2, 0.4 }//,
// { _V(-2, -2.164, 1.5), 1e6, 1e5, 3.2, 0 },
// { _V(2, -2.164, 1.5), 1e6, 1e5, 3.2, 0 },
// { _V(-2, 1.6, -2.6), 1e6, 1e5, 3.2, 0 },
// { _V(2, 1.6, -2.6), 1e6, 1e5, 3.2, 0 },
// { _V(-2, 1.6, 1.5), 1e6, 1e5, 3.2, 0 },
// { _V(2, 1.6, 1.5), 1e6, 1e5, 3.2, 0 }
};
void LER2016::clbkPreStep(double simt, double simdt, double mjd) {
rt = oapiGetSize(GetSurfaceRef());
earth_circ = rt * 2 * PI;
each_deg = earth_circ / 360;
grav_acc = GGRAV*oapiGetMass(GetSurfaceRef()) / (rt*rt);
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
// CurrentSpeed = .5;
MoveAround();
}
void LER2016::clbkSetClassCaps(FILEHANDLE cfg) {
// physical specs
SetSize(6.08);
SetEmptyMass(MASS);
SetCW(0.9, 0.9, 2, 1.4);
SetWingAspect(0.1);
SetWingEffectiveness(0.1);
SetCrossSections(_V(232.84, 1220.32, 166.36));
SetRotDrag(_V(0.1, 0.1, 0.1));
if (GetFlightModel() >= 1) {
SetPitchMomentScale(1e-4);
SetBankMomentScale(1e-4);
}
SetPMI(_V(163.54, 208.04, 76.03));
SetTrimScale(0.05);
SetCameraOffset(_V(0, .7, 3.121));
// SetTouchdownPoints(_V(0, -2.116, 20), _V(-15, -2.116, -20), _V(15, -2.116, -20));;
SetTouchdownPoints(tdvtx, ntdvtx);
...}
MATRIX3 LER2016::RotationMatrix(VECTOR3 angles, bool xyz = FALSE)
{
MATRIX3 m;
MATRIX3 RM_X, RM_Y, RM_Z;
RM_X = _M(1, 0, 0, 0, cos(angles.x), -sin(angles.x), 0, sin(angles.x), cos(angles.x));
RM_Y = _M(cos(angles.y), 0, sin(angles.y), 0, 1, 0, -sin(angles.y), 0, cos(angles.y));
RM_Z = _M(cos(angles.z), -sin(angles.z), 0, sin(angles.z), cos(angles.z), 0, 0, 0, 1);
if (!xyz) {
m = mul(RM_Z, mul(RM_Y, RM_X));
}
else {
m = mul(RM_X, mul(RM_Y, RM_Z));
}
return m;
}
void LER2016::MoveAround(){
memset(&vs2, 0, sizeof(vs2));
vs2.version = 2;
GetStatusEx(&vs2);
double sinTurn = sin(2*PI * TURN_proc);
double cosTurn = cos(2*PI * TURN_proc);
if (FORWARDgear==1)//MOVING FORWARD
{
if (i3 < 0){//LEFT TURN
d_hdg = d_hdg + .00001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
//sprintf(oapiDebugString(), "turn %d SURFHDG %2.2f", i3, vs2.surf_hdg);
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
if (i3 > 0){//RIGHT TURN
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg + .00001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
//sprintf(oapiDebugString(), "turn %d SURFHDG %2.2f", i3, vs2.surf_hdg);
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
// sprintf (oapiDebugString (), "turn %2.2f cos %2.2f sin %2.2f", TURN_proc, cosTurn, sinTurn );
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
d_hdg = 0;
}
if (TURN_proc == 0){//wheels are straight so move with heading
d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
}
else {//wheels are not straight so move no matter the heading
d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
}
//sprintf(oapiDebugString(), "turn %2.2f cos %2.2f sin %2.2f lat %2.2f lng %2.2f", TURN_proc, cosTurn, sinTurn, d_lat, d_lng);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
if ((LASTGEAR == 1) && (neutralgear == 1)) {
if (TURN_proc == 0){//wheels are straight so move with heading
d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
}
else {//wheels are not straight so move no matter the heading
d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
}
//sprintf(oapiDebugString(), "turn %2.2f cos %2.2f sin %2.2f lat %2.2f lng %2.2f", TURN_proc, cosTurn, sinTurn, d_lat, d_lng);
vs2.surf_lat += d_lat*RAD;
vs2.surf_lng += d_lng*RAD;
}
if ((LASTGEAR == 2) && (neutralgear == 1)) {
if (TURN_proc == 0){//wheels are straight so move with heading
d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
}
else {//wheels are not straight so move no matter the heading
d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
}
//sprintf(oapiDebugString(), "turn %2.2f cos %2.2f sin %2.2f lat %2.2f lng %2.2f", TURN_proc, cosTurn, sinTurn, d_lat, d_lng);
vs2.surf_lat -= d_lat*RAD;
vs2.surf_lng -= d_lng*RAD;
}
if (REVERSEgear == 1)
{
if (i3 > 0){
d_hdg = d_hdg + .00001;//rate of steering change of heading
vs2.surf_hdg -= d_hdg;
if (vs2.surf_hdg<0){ vs2.surf_hdg += 2 * PI; }
rot += 0.005;//animation axle wheel turn rate
if (rot > .125) rot = .125;
}
if (i3 < 0){
rot -= 0.005;//animation axle wheel turn rate
if (rot < -.125) rot = -.125;
d_hdg = d_hdg + .00001;//rate of steering change of heading
vs2.surf_hdg += d_hdg;
if (vs2.surf_hdg>2 * PI){ vs2.surf_hdg -= 2 * PI; }
}
if (i3 == 0) {// straight so straighten wheels
// sprintf (oapiDebugString (), "turn %2.2f cos %2.2f sin %2.2f", TURN_proc, cosTurn, sinTurn );
if (abs(rot) <= 0.005) rot = 0;
else if (rot < 0) rot += 0.005;
else if (rot > 0) rot -= 0.005;
d_hdg = 0;
}
if (TURN_proc == 0){//wheels are straight so move with heading
d_lat = (targetSpeed*oapiGetSimStep()*cos(vs2.surf_hdg) / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sin(vs2.surf_hdg) / each_deg);
}
else {//wheels are not straight so move no matter the heading
d_lat = (targetSpeed*oapiGetSimStep()*cosTurn / each_deg);
d_lng = (targetSpeed*oapiGetSimStep()*sinTurn / each_deg);
}
//sprintf(oapiDebugString(), "turn %2.2f cos %2.2f sin %2.2f lat %2.2f lng %2.2f", TURN_proc, cosTurn, sinTurn, d_lat, d_lng);
vs2.surf_lat -= d_lat*RAD;
vs2.surf_lng -= d_lng*RAD;
}
lng = vs2.surf_lng;
lat = vs2.surf_lat;
hdg = vs2.surf_hdg;
{
MATRIX3 rot1 = RotationMatrix(_V(0 * RAD, (90 * RAD - lng), 0 * RAD), TRUE);
MATRIX3 rot2 = RotationMatrix(_V(-lat + 0 * RAD, 0, 0 * RAD), TRUE);
MATRIX3 rot3 = RotationMatrix(_V(0, 0, 180 * RAD + hdg), TRUE);
MATRIX3 rot4 = RotationMatrix(_V(90 * RAD, 0, 0), TRUE);
//MATRIX3 rot4 = RotationMatrix(_V(90 * RAD - pitch_angle, 0, roll_angle), TRUE);
// MATRIX3 rot_pitch = RotationMatrix(_V(pitch_angle, 0, 0));
// MATRIX3 rot_roll = RotationMatrix(_V(0, 0, roll_angle));
MATRIX3 RotMatrix_Def = mul(rot1, mul(rot2, mul(rot3, rot4)));
vs2.arot.x = atan2(RotMatrix_Def.m23, RotMatrix_Def.m33);
vs2.arot.y = -asin(RotMatrix_Def.m13);
vs2.arot.z = atan2(RotMatrix_Def.m12, RotMatrix_Def.m11);
}
vs2.vrot.x = 2.35;
//sprintf(oapiDebugString(), "targetSpeed %2.2f d_lat %2.2f d_lng %2.2f,rt %2.2f degree %2.2f hdg %2.2f", targetSpeed, vs2.surf_lat, vs2.surf_lng, rt, each_deg, vs2.surf_hdg);
//sprintf(oapiDebugString(), "targetSpeed %2.2f hd %2.2f d_hdg %2.2f,hdg %2.2f", targetSpeed, i, d_hdg, vs2.surf_hdg);
DefSetStateEx(&vs2);
return;
}
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