/***************************************************************************

	TITLE:	gear
	
----------------------------------------------------------------------------

	FUNCTION:	Landing gear model for example simulation

----------------------------------------------------------------------------

	MODULE STATUS:	developmental

----------------------------------------------------------------------------

	GENEALOGY:	Created 931012 by E. B. Jackson

----------------------------------------------------------------------------

	DESIGNED BY:	E. B. Jackson
	
	CODED BY:	E. B. Jackson
	
	MAINTAINED BY:	E. B. Jackson

----------------------------------------------------------------------------

	MODIFICATION HISTORY:
	
	DATE	PURPOSE						BY

	931218	Added navion.h header to allow connection with
		aileron displacement for nosewheel steering.	EBJ
	940511	Connected nosewheel to rudder pedal; adjusted gain.
	
	CURRENT RCS HEADER:

$Header: /var/cvs/FlightGear-0.9/source/src/FDM/LaRCsim/c172_gear.c,v 1.1.1.1 2002-09-10 01:14:01 curt Exp $
$Log: c172_gear.c,v $
Revision 1.1.1.1  2002-09-10 01:14:01  curt
Initial revision of FlightGear-0.9.0

Revision 1.20  2001/07/30 20:53:54  curt
Various MSVC tweaks and warning fixes.

Revision 1.19  2001/03/02 21:37:01  curt
Added a first pass at a C++ sound manager class.

Revision 1.18  2000/12/13 22:02:02  curt
MacOS changes contributed by Darrell Walisser (12/13/2000)

Revision 1.17  2000/09/14 15:36:25  curt
Tweaks to ground steering sensitivity.

Revision 1.16  2000/09/13 19:51:09  curt
MacOS changes by Darrell Walisser.

Revision 1.15  2000/06/12 18:52:37  curt
Added differential braking (Alex and David).

Revision 1.14  2000/04/10 18:09:41  curt
David Megginson made a few (mostly minor) mods to the LaRCsim files, and
it's now possible to choose the LaRCsim model at runtime, as in

  fgfs --aircraft=c172

or

  fgfs --aircraft=uiuc --aircraft-dir=Aircraft-uiuc/Boeing747

I did this so that I could play with the UIUC stuff without losing
Tony's C172 with its flaps, etc.  I did my best to respect the design
of the LaRCsim code by staying in C, making only minimal changes, and
not introducing any dependencies on the rest of FlightGear.  The
modified files are attached.

Revision 1.13  1999/12/13 20:43:41  curt
Updates from Tony.


----------------------------------------------------------------------------

	REFERENCES:

----------------------------------------------------------------------------

	CALLED BY:

----------------------------------------------------------------------------

	CALLS TO:

----------------------------------------------------------------------------

	INPUTS:

----------------------------------------------------------------------------

	OUTPUTS:

--------------------------------------------------------------------------*/
#include <math.h>
#include "ls_types.h"
#include "ls_constants.h"
#include "ls_generic.h"
#include "ls_cockpit.h"

#define HEIGHT_AGL_WHEEL d_wheel_rwy_local_v[2]


static void sub3( DATA v1[],  DATA v2[], DATA result[] )
{
    result[0] = v1[0] - v2[0];
    result[1] = v1[1] - v2[1];
    result[2] = v1[2] - v2[2];
}

static void add3( DATA v1[],  DATA v2[], DATA result[] )
{
    result[0] = v1[0] + v2[0];
    result[1] = v1[1] + v2[1];
    result[2] = v1[2] + v2[2];
}

static void cross3( DATA v1[],  DATA v2[], DATA result[] )
{
    result[0] = v1[1]*v2[2] - v1[2]*v2[1];
    result[1] = v1[2]*v2[0] - v1[0]*v2[2];
    result[2] = v1[0]*v2[1] - v1[1]*v2[0];
}

static void multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
{
    result[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2];
    result[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2];
    result[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2];
}

static void mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
{
    result[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
    result[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
    result[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
}

static void clear3( DATA v[] )
{
    v[0] = 0.; v[1] = 0.; v[2] = 0.;
}

void c172_gear()
{
char rcsid[] = "$Id: c172_gear.c,v 1.1.1.1 2002-09-10 01:14:01 curt Exp $";
#define NUM_WHEELS 4
// char gear_strings[NUM_WHEELS][12]={"nose","right main", "left main", "tail skid"};
  /*
   * Aircraft specific initializations and data goes here
   */
   

    static int num_wheels = NUM_WHEELS;		    /* number of wheels  */
    static DATA d_wheel_rp_body_v[NUM_WHEELS][3] =  /* X, Y, Z locations,full extension */
    {
	{  3.91,  0.,   6.67 },		   /*nose*/ /* in feet */
	{ -1.47,  3.58, 6.71 },        /*right main*/
	{ -1.47, -3.58, 6.71 },        /*left main*/ 
	{ -15.67, 0, 2.42 }            /*tail skid */
    };
    // static DATA gear_travel[NUM_WHEELS] = /*in Z-axis*/
           // { -0.5, 2.5, 2.5, 0};
    static DATA spring_constant[NUM_WHEELS] =	    /* springiness, lbs/ft */
	{ 1200., 900., 900., 10000. };
    static DATA spring_damping[NUM_WHEELS] =	    /* damping, lbs/ft/sec */
	{ 200.,  300., 300., 400. };	
    static DATA percent_brake[NUM_WHEELS] =	    /* percent applied braking */
	{ 0.,  0.,  0., 0. };			    /* 0 = none, 1 = full */
    static DATA caster_angle_rad[NUM_WHEELS] =	    /* steerable tires - in */
	{ 0., 0., 0., 0};				    /* radians, +CW */	
  /*
   * End of aircraft specific code
   */
    
  /*
   * Constants & coefficients for tyres on tarmac - ref [1]
   */
   
    /* skid function looks like:
     * 
     *           mu  ^
     *               |
     *       max_mu  |       +		
     *               |      /|		
     *   sliding_mu  |     / +------	
     *               |    /		
     *               |   /		
     *               +--+------------------------> 
     *               |  |    |      sideward V
     *               0 bkout skid
     *	               V     V
     */
  
  
    static int it_rolls[NUM_WHEELS] = { 1,1,1,0};	
	static DATA sliding_mu[NUM_WHEELS] = { 0.5, 0.5, 0.5, 0.3};	
    static DATA rolling_mu[NUM_WHEELS] = { 0.01, 0.01, 0.01, 0.0}; 	
    static DATA max_brake_mu[NUM_WHEELS] ={ 0.0, 0.6, 0.6, 0.0};	
    static DATA max_mu	     = 0.8;	
    static DATA bkout_v	     = 0.1;
    static DATA skid_v       = 1.0;
  /*
   * Local data variables
   */
   
    DATA d_wheel_cg_body_v[3];		/* wheel offset from cg,  X-Y-Z	*/
    DATA d_wheel_cg_local_v[3];		/* wheel offset from cg,  N-E-D	*/
    DATA d_wheel_rwy_local_v[3];	/* wheel offset from rwy, N-E-U */
	DATA v_wheel_cg_local_v[3];    /*wheel velocity rel to cg N-E-D*/
    // DATA v_wheel_body_v[3];		/* wheel velocity,	  X-Y-Z	*/
    DATA v_wheel_local_v[3];		/* wheel velocity,	  N-E-D	*/
    DATA f_wheel_local_v[3];		/* wheel reaction force,  N-E-D	*/
    // DATA altitude_local_v[3];       /*altitude vector in local (N-E-D) i.e. (0,0,h)*/
    // DATA altitude_body_v[3];        /*altitude vector in body (X,Y,Z)*/
    DATA temp3a[3];
    // DATA temp3b[3];
    DATA tempF[3];
    DATA tempM[3];	
    DATA reaction_normal_force;		/* wheel normal (to rwy) force	*/
    DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle;	/* temp storage */
    DATA v_wheel_forward, v_wheel_sideward,  abs_v_wheel_sideward;
    DATA forward_mu, sideward_mu;	/* friction coefficients	*/
    DATA beta_mu;			/* breakout friction slope	*/
    DATA forward_wheel_force, sideward_wheel_force;

    int i;				/* per wheel loop counter */
  
  /*
   * Execution starts here
   */
   
    beta_mu = max_mu/(skid_v-bkout_v);
    clear3( F_gear_v );		/* Initialize sum of forces...	*/
    clear3( M_gear_v );		/* ...and moments		*/
    
  /*
   * Put aircraft specific executable code here
   */
   
    percent_brake[1] = Brake_pct[0];
    percent_brake[2] = Brake_pct[1];
    
    caster_angle_rad[0] =
	(0.01 + 0.04 * (1 - V_calibrated_kts / 130)) * Rudder_pedal;
    
    
	for (i=0;i<num_wheels;i++)	    /* Loop for each wheel */
    {
		/* printf("%s:\n",gear_strings[i]); */



		/*========================================*/
		/* Calculate wheel position w.r.t. runway */
		/*========================================*/

		
		/* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */

		
			/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */

		sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );

	    	/* then converting to local (North-East-Down) axes... */

		multtrans3x3by3( T_local_to_body_m,  d_wheel_cg_body_v, d_wheel_cg_local_v );
		

	    	/* Runway axes correction - third element is Altitude, not (-)Z... */

		d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */

	    	/* Add wheel offset to cg location in local axes */

		add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );

	    	/* remove Runway axes correction so right hand rule applies */

		d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */

		/*============================*/
		/* Calculate wheel velocities */
		/*============================*/

	    	/* contribution due to angular rates */

		cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );

	    	/* transform into local axes */

		multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );

	    	/* plus contribution due to cg velocities */

		add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );

		clear3(f_wheel_local_v);
		reaction_normal_force=0;
		if( HEIGHT_AGL_WHEEL < 0. ) 
			/*the wheel is underground -- which implies ground contact 
			  so calculate reaction forces */ 
			{
			/*===========================================*/
			/* Calculate forces & moments for this wheel */
			/*===========================================*/

	    		/* Add any anticipation, or frame lead/prediction, here... */

		    		/* no lead used at present */

	    		/* Calculate sideward and forward velocities of the wheel 
		    		in the runway plane					*/

			cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
			sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);

			v_wheel_forward  = v_wheel_local_v[0]*cos_wheel_hdg_angle
					 + v_wheel_local_v[1]*sin_wheel_hdg_angle;
			v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
					 - v_wheel_local_v[0]*sin_wheel_hdg_angle;
			
	            
	    	/* Calculate normal load force (simple spring constant) */

	    	reaction_normal_force = 0.;
        
	    	reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
					  - v_wheel_local_v[2]*spring_damping[i];
			/* printf("\treaction_normal_force: %g\n",reaction_normal_force); */

	    	if (reaction_normal_force > 0.) reaction_normal_force = 0.;
			/* to prevent damping component from swamping spring component */


	    	/* Calculate friction coefficients */

			if(it_rolls[i])
			{
			   forward_mu = (max_brake_mu[i] - rolling_mu[i])*percent_brake[i] + rolling_mu[i];
			   abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
			   sideward_mu = sliding_mu[i];
			   if (abs_v_wheel_sideward < skid_v) 
	    		   sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
			   if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
			}
			else
			{
				forward_mu=sliding_mu[i];
				sideward_mu=sliding_mu[i];
			}	   

	    		/* Calculate foreward and sideward reaction forces */

			forward_wheel_force  =   forward_mu*reaction_normal_force;
			sideward_wheel_force =  sideward_mu*reaction_normal_force;
			if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
			if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
/* 			printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
 */
	    		/* Rotate into local (N-E-D) axes */

			f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
					  - sideward_wheel_force*sin_wheel_hdg_angle;
			f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
					  + sideward_wheel_force*cos_wheel_hdg_angle;
			f_wheel_local_v[2] = reaction_normal_force;	  

			 /* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
			mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );

	    		/* Calculate moments from force and offsets in body axes */

			cross3( d_wheel_cg_body_v, tempF, tempM );

			/* Sum forces and moments across all wheels */

			add3( tempF, F_gear_v, F_gear_v );
			add3( tempM, M_gear_v, M_gear_v );   


			}



		/* printf("\tN: %g,dZrwy: %g dZdotrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL,v_wheel_cg_local_v[2]); */

		/*printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear);
		printf("\tMgear: %g, Lgear: %g, Ngear: %g\n\n",M_m_gear,M_l_gear,M_n_gear); */


    }
}
