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# 26aug09abu
# (c) Software Lab. Alexander Burger
# *Pilot *Scene *Model
# *DT *Thr *Speed *Climb *Alt
(load "simul/lib.l")
(de *DT . 0.020)
(de *Tower . 12.0)
(de start ()
(task -20 0 (simulate))
(setq "Time" (time)) )
(de stop ()
(task -20) )
(de draw ()
(at (0 . 100)
(let N (time)
(rate> *Pilot (- N "Time"))
(setq "Time" N) ) )
(draw> *Scene) )
(de simulate ()
(sim> *Scene)
(sim> *Model) )
(de MUL Args
(let D 1.0
(make
(link '*/ (pop 'Args) (pop 'Args))
(while Args
(setq D (* D 1.0))
(link (pop 'Args)) )
(link D) ) ) )
(de dist (X Y)
(sqrt (+ (* X X) (* Y Y))) )
(de damp ("Var" Val)
(set "Var" (>> 1 (+ Val (val "Var")))) )
(de doppler (F X Y VX VY)
(let N (dist X Y)
(if (=0 N)
F
(- F
(*/ F
(+ `(MUL X VX) `(MUL Y VY))
(* N 150) ) ) ) ) )
(class +Model)
# mass power rc lc limit tx tz pitch torq stab
# body leftAileron rightAileron rudder elevator propeller blade disk
# ele ail rud thr thrust vx vy vz fx fy fz dx dy dz
(dm T ()
(load "rcsim/fokker.l")
(=: ele (=: ail (=: rud (=: thr (=: thrust 0)))))
(=: vx (=: vy (=: vz 0)))
(=: fx (=: fy (=: fz 0)))
(=: dx (=: dy (=: dz 0)))
(z3d:dx -100.0 (: body))
(z3d:dy -200.0 (: body))
(blade> This) )
(dm dir> ()
(let B (val (: body))
(z3d:Spot
(+ (car B) (>> 3 (: vx)) (>> 2 (: vz)))
(+ (cadr B) (>> 3 (: vy)) (>> 2 (: vz)))
(+ (caddr B) (>> 3 (: vz)) (>> 2 (: vz)))
0 0 *Tower ) ) )
(dm blade> ()
(set (: propeller) (val (: blade))) )
(dm disk> ()
(set (: propeller) (val (: disk))) )
(dm down> ()
(when (> (: ele) -100)
(dec (:: ele) 20)
(z3d:Arot +0.2 (: elevator)) ) )
(dm up> ()
(when (> 100 (: ele))
(inc (:: ele) 20)
(z3d:Arot -0.2 (: elevator)) ) )
(dm left> ()
(when (> (: ail) -100)
(dec (:: ail) 20)
(dec (:: rud) 20)
(z3d:Arot +0.2 (: leftAileron))
(z3d:Arot +0.2 (: rightAileron))
(z3d:Arot +0.2 (: rudder)) ) )
(dm right> ()
(when (> 100 (: ail))
(inc (:: ail) 20)
(inc (:: rud) 20)
(z3d:Arot -0.2 (: leftAileron))
(z3d:Arot -0.2 (: rightAileron))
(z3d:Arot -0.2 (: rudder)) ) )
(dm throt> (X)
(=: thr
(cond
((not X) 0)
((=T X) 100)
((lt0 X) (max 10 (- (: thr) 25)))
((=0 (: thr)) 10)
((= 10 (: thr)) 25)
(T (min 100 (+ 25 (: thr)))) ) ) )
(dm sim> ()
(cond
((gt0 (: ele))
(dec (:: ele))
(z3d:Arot +0.01 (: elevator)) )
((lt0 (: ele))
(inc (:: ele))
(z3d:Arot -0.01 (: elevator)) ) )
(cond
((gt0 (: ail))
(dec (:: ail))
(dec (:: rud))
(z3d:Arot +0.01 (: leftAileron))
(z3d:Arot +0.01 (: rightAileron))
(z3d:Arot +0.01 (: rudder)) )
((lt0 (: ail))
(inc (:: ail))
(inc (:: rud))
(z3d:Arot -0.01 (: leftAileron))
(z3d:Arot -0.01 (: rightAileron))
(z3d:Arot -0.01 (: rudder)) ) )
(cond
((> (: thr) (: thrust))
(inc (:: thrust)) )
((> (: thrust) (: thr))
(dec (:: thrust)) ) )
(if (> 20 (: thrust))
(blade> This)
(disk> This) )
(unless (=0 (: thrust))
(z3d:Xrot 0.2 (: propeller)) )
(use (Touch VX VY VZ Body Taxi Stick A FX FY FZ DX DY DZ)
(z3d:Rotate (: tx) 0 (: tz) (: body) NIL NIL 'Touch)
(z3d:Rotate (: vx) (: vy) (: vz) (: body) 'VX 'VY 'VZ T)
(setq
Body (val (: body))
Taxi (> 0.1 (+ (caddr Body) Touch))
Stick (>= 1.0 (+ VX VY))
FX (+ (*/ (: thrust) (: power) 100) `(MUL (: rc) VX (abs VX)))
FZ (+
(cond
((> 0.1 VX) 0)
((> (abs (setq A (*/ 1.0 VZ VX))) (: lim2))
0 )
((>= (: lim1) A)
`(MUL VX VX (: lc) A) )
(T `(MUL VX VX (: lc) (- (: lim2) A))) )
`(MUL 8.0 (: rc) VZ (abs VZ)) ) )
(ifn Taxi
(setq FY `(MUL 4.0 (: rc) VY (abs VY)))
(let F (>> 2 (: mass))
(cond
((> 0.1 (abs VX))
(and (>= F FX) (zero FX)) )
((gt0 VX)
(dec 'FX F) )
(T (inc 'FX F)) )
(setq FY (if (lt0 VY) (* 12 F) (* -12 F))) )
(z3d:Yrot
(>> 3 (- (: pitch) (get Body 6))) # rot.a.z
(: body) ) )
(unless Stick
(z3d:Yrot
(+
(*/ VX (+ (: ele) (: trim)) 80000)
`(MUL VZ (: stab 2)) )
(: body) )
(if Taxi
(prog
(z3d:Zrot (*/ VX (: rud) 80000) (: body))
(z3d:Xrot (get Body 9) (: body)) ) # rot.b.z
(z3d:Xrot # roll
(+
(- (*/ VX (: ail) 80000) (/ VY 400))
(*/ (: thrust) (: torq) (: mass))
`(MUL (get Body 9) (: stab 1)) ) # rot.b.z
(: body) )
(z3d:Zrot
(+
(*/ VX (: rud) 80000)
`(MUL VY (: stab 3)) )
(: body) ) ) )
# World system
(z3d:Rotate FX FY FZ (: body) 'FX 'FY 'FZ)
(dec 'FZ `(MUL (: mass) 9.81))
# Accelerate
(setq
A (*/ 1.0 *DT (: mass))
DX `(MUL A (damp (:: fx) FX))
DY `(MUL A (damp (:: fy) FY))
DZ `(MUL A (damp (:: fz) FZ)) )
(if (and Stick (> 0.001 (+ `(MUL DX DX) `(MUL DY DY))))
(=: vx (=: vy (=: dx (=: dy 0))))
(inc (:: vx) (damp (:: dx) DX))
(inc (:: vy) (damp (:: dy) DY)) )
(inc (:: vz) (damp (:: dz) DZ))
(when (and Taxi (lt0 (: vz)))
(when (> -6.0 (: vz))
(=: thr (=: thrust 0))
(=: vx (=: vy 0))
(blade> This) )
(set (cddr Body) (- Touch))
(=: vz 0) )
# Translate
(inc Body `(MUL (: vx) *DT))
(inc (cdr Body) `(MUL (: vy) *DT))
(inc (cddr Body) `(MUL (: vz) *DT))
# Sound/Display
(tone> *Scene
(max 0
(- 100
(/ (dist (car Body) (cadr Body)) 40.0) ) )
(cond
((=0 (: thrust)) 0)
((> 22 (: thrust)) 11)
(T
(doppler
(>> 1 (+ (: thrust) (/ VX 0.5)))
(car Body)
(cadr Body)
(: vx)
(: vy) ) ) ) )
(unless (= *Thr (: thr))
(thr> *Pilot (setq *Thr (: thr))) )
(unless (= *Speed (setq A (*/ VX 3.6 `(* 1.0 1.0))))
(speed> *Pilot (setq *Speed A)) )
(unless (= *Climb (setq A (/ (: vz) 1.0)))
(climb> *Pilot (setq *Climb A)) )
(unless (= *Alt (setq A (/ (caddr Body) 1.0)))
(alt> *Pilot (setq *Alt A)) ) ) )
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