TurboProp.cpp

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/*
    This source file is part of Rigs of Rods
    Copyright 2005-2012 Pierre-Michel Ricordel
    Copyright 2007-2012 Thomas Fischer
 
    For more information, see http://www.rigsofrods.org/
 
    Rigs of Rods is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License version 3, as
    published by the Free Software Foundation.
 
    Rigs of Rods is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU General Public License for more details.
 
    You should have received a copy of the GNU General Public License
    along with Rigs of Rods. If not, see <http://www.gnu.org/licenses/>.
*/
 
#include "TurboProp.h"
 
#include "Actor.h"
#include "Airfoil.h"
#include "GfxActor.h"
#include "GfxScene.h"
#include "ScriptEngine.h"
#include "SoundScriptManager.h"
#include "SimData.h"
 
#include <fmt/format.h>
#include <Ogre.h>
 
using namespace Ogre;
using namespace RoR;
 
Turboprop::Turboprop(
    ActorPtr a,
    const char* propname,
    NodeNum_t nr,
    NodeNum_t nb,
    NodeNum_t np1,
    NodeNum_t np2,
    NodeNum_t np3,
    NodeNum_t np4,
    NodeNum_t tqn,
    float power,
    Ogre::String const& propfoilname,
    bool disable_smoke,
    bool ispiston,
    float fpitch
):
    m_actor(a)
{
    ROR_ASSERT(nr  != NODENUM_INVALID);
    ROR_ASSERT(nb  != NODENUM_INVALID);
    ROR_ASSERT(np1 != NODENUM_INVALID);
    ROR_ASSERT(np2 != NODENUM_INVALID);
    // np3, np4, tqn ~ can be invalid
 
    failed = false;
    failedold = false;
#ifdef USE_OPENAL
    switch (m_actor->ar_num_aeroengines)
    {
    case 0:  mod_id = SS_MOD_AEROENGINE1;  src_id = SS_TRIG_AEROENGINE1;  thr_id = SS_MOD_THROTTLE1;  break;
    case 1:  mod_id = SS_MOD_AEROENGINE2;  src_id = SS_TRIG_AEROENGINE2;  thr_id = SS_MOD_THROTTLE2;  break;
    case 2:  mod_id = SS_MOD_AEROENGINE3;  src_id = SS_TRIG_AEROENGINE3;  thr_id = SS_MOD_THROTTLE3;  break;
    case 3:  mod_id = SS_MOD_AEROENGINE4;  src_id = SS_TRIG_AEROENGINE4;  thr_id = SS_MOD_THROTTLE4;  break;
    case 4:  mod_id = SS_MOD_AEROENGINE5;  src_id = SS_TRIG_AEROENGINE5;  thr_id = SS_MOD_THROTTLE5;  break;
    case 5:  mod_id = SS_MOD_AEROENGINE6;  src_id = SS_TRIG_AEROENGINE6;  thr_id = SS_MOD_THROTTLE6;  break;
    case 6:  mod_id = SS_MOD_AEROENGINE7;  src_id = SS_TRIG_AEROENGINE7;  thr_id = SS_MOD_THROTTLE7;  break;
    case 7:  mod_id = SS_MOD_AEROENGINE8;  src_id = SS_TRIG_AEROENGINE8;  thr_id = SS_MOD_THROTTLE8;  break;
    default: mod_id = SS_MOD_NONE;         src_id = SS_TRIG_NONE;         thr_id = SS_MOD_NONE;
    }
#endif //OPENAL
    is_piston = ispiston;
    fixed_pitch = fpitch;
    torquenode = tqn;
    rotenergy = 0;
    pitchspeed = 5.0; //in degree/sec
    numblades = 4;
    twistmap[0] = 2;
    twistmap[1] = 6;
    twistmap[2] = 10;
    twistmap[3] = 19;
    twistmap[4] = 32;
    noderef = nr;
    nodeback = nb;
    nodep[0] = np1;
    nodep[1] = np2;
    if (torquenode != NODENUM_INVALID)
    {
        Plane pplane = Plane((m_actor->ar_nodes[nr].RelPosition - m_actor->ar_nodes[nb].RelPosition).normalisedCopy(), 0.0);
        Vector3 apos = pplane.projectVector(m_actor->ar_nodes[nr].RelPosition);
        Vector3 tpos = pplane.projectVector(m_actor->ar_nodes[tqn].RelPosition);
        torquedist = (apos - tpos).length();
    }
    else
        torquedist = 1.0;
    if (np3 == NODENUM_INVALID)
        numblades = 2;
    else
    {
        nodep[2] = np3;
        if (np4 == NODENUM_INVALID)
            numblades = 3;
        else
            nodep[3] = np4;
    }
    propwash = 0;
    timer = 0;
    lastflip = 0;
    warmupstart = 0.0;
    warmuptime = 14.0;
    warmup = false;
    airfoil = new Airfoil(propfoilname);
    fullpower = power;
    max_torque = 9549.3 * fullpower / 1000.0;
    indicated_torque = 0.0;
    radius = (m_actor->ar_nodes[noderef].RelPosition - m_actor->ar_nodes[nodep[0]].RelPosition).length();
    //bladewidth=radius/5.75;
    bladewidth = 0.4;
    proparea = 3.14159 * radius * radius;
    airdensity = 1.225;
    //  regspeed=245.0*60.0/(2.0*3.14159*radius);//1010.0 //compute regulated speed for a tip speed of 245m/s
    regspeed = 1010;
    maxrevpitch = -5.0;
    //smoke visual
    if (disable_smoke)
    {
        smokeNode = 0;
        smokePS = 0;
    }
    else
    {
        char dename[256];
        sprintf(dename, "%s-smoke", propname);
        smokeNode = App::GetGfxScene()->GetSceneManager()->getRootSceneNode()->createChildSceneNode();
        smokePS = App::GetGfxScene()->GetSceneManager()->createParticleSystem(dename, "tracks/TurbopropSmoke");
        if (smokePS)
        {
            smokePS->setVisibilityFlags(DEPTHMAP_DISABLED); // disable particles in depthmap
            smokeNode->attachObject(smokePS);
            smokePS->setCastShadows(false);
        }
    }
 
    reset();
}
 
Turboprop::~Turboprop()
{
    //A fast work around 
    //
    SOUND_MODULATE(m_actor, thr_id, 0);
    SOUND_MODULATE(m_actor, mod_id, 0);
    SOUND_STOP(m_actor, src_id);
 
    if (airfoil != nullptr)
    {
        delete airfoil;
    }
 
    if (smokePS != nullptr)
    {
        smokePS->removeAllEmitters();
    }
}
 
void Turboprop::updateVisuals(RoR::GfxActor* gfx_m_actor)
{
    RoR::NodeSB* node_buf = gfx_m_actor->GetSimNodeBuffer();
 
    //smoke
    if (smokeNode)
    {
        App::GetGfxScene()->AdjustParticleSystemTimeFactor(smokePS);
        smokeNode->setPosition(node_buf[nodeback].AbsPosition);
        ParticleEmitter* emit = smokePS->getEmitter(0);
        Vector3 dir = node_buf[nodeback].AbsPosition - node_buf[noderef].AbsPosition;
        emit->setDirection(dir);
        emit->setParticleVelocity(propwash - propwash / 10, propwash + propwash / 10);
        if (!failed)
        {
            if (ignition)
            {
                emit->setEnabled(true);
                emit->setColour(ColourValue(0.0, 0.0, 0.0, 0.03 + throtle * 0.05));
                emit->setTimeToLive((0.03 + throtle * 0.05) / 0.1);
            }
            else
            {
                emit->setEnabled(false);
            }
        }
        else
        {
            emit->setDirection(Vector3(0, 1, 0));
            emit->setParticleVelocity(5, 9);
            emit->setEnabled(true);
            emit->setColour(ColourValue(0.0, 0.0, 0.0, 0.1));
            emit->setTimeToLive(0.1 / 0.1);
        }
    }
 
#ifdef USE_ANGELSCRIPT
    if (failed != failedold)
    {
        TRIGGER_EVENT_ASYNC(SE_TRUCK_ENGINE_FIRE, m_actor->ar_instance_id);
        failedold = failed;
    }
#endif
}
 
void Turboprop::setVisible(bool visible)
{
    if (smokePS)
        smokePS->setVisible(visible);
}
 
void Turboprop::updateForces(float dt, int doUpdate)
{
    if (doUpdate)
    {
        //tropospheric model valid up to 11.000m (33.000ft)
        float altitude = m_actor->ar_nodes[noderef].AbsPosition.y;
        //float sea_level_temperature=273.15+15.0; //in Kelvin
        float sea_level_pressure = 101325; //in Pa
        //float airtemperature=sea_level_temperature-altitude*0.0065; //in Kelvin
        float airpressure = sea_level_pressure * pow(1.0 - 0.0065 * altitude / 288.15, 5.24947); //in Pa
        airdensity = airpressure * 0.0000120896;//1.225 at sea level
        SOUND_MODULATE(m_actor->ar_instance_id, mod_id, rpm);
    }
 
    timer += dt;
    //evaluate the rotation speed
    float velacc = 0;
    for (int i = 0; i < numblades; i++)
    {
        velacc += (m_actor->ar_nodes[nodep[i]].Velocity - m_actor->ar_nodes[noderef].Velocity).length();
    }
    rpm = (velacc / numblades) * RAD_PER_SEC_TO_RPM / radius;
    //check for broken prop
    Vector3 avg = Vector3::ZERO;
    for (int i = 0; i < numblades; i++)
    {
        avg += m_actor->ar_nodes[nodep[i]].RelPosition;
    }
    avg = avg / numblades;
    if ((avg - m_actor->ar_nodes[noderef].RelPosition).length() > 0.4)
    {
        failed = true;
    }
    //evaluate engine power
    float enginepower = 0; //in kilo-Watt
    float warmupfm_actor = 1.0;
    if (warmup)
    {
        warmupfm_actor = (timer - warmupstart) / warmuptime;
        if (warmupfm_actor >= 1.0)
            warmup = false;
    }
    float revpenalty = 1.0;
    if (reverse)
        revpenalty = 0.5;
    if (!failed && ignition)
        enginepower = (0.0575 + throtle * revpenalty * 0.9425) * fullpower * warmupfm_actor;
    //the magic formula
    float enginecouple = 0.0; //in N.m
    if (rpm > 10.0)
        enginecouple = 9549.3 * enginepower / rpm;
    else
        enginecouple = 9549.3 * enginepower / 10.0;
    indicated_torque = enginecouple;
 
    if (torquenode != NODENUM_INVALID)
    {
        Vector3 along = m_actor->ar_nodes[noderef].RelPosition - m_actor->ar_nodes[nodeback].RelPosition;
        Plane ppl = Plane(along, 0);
        Vector3 orth = ppl.projectVector(m_actor->ar_nodes[noderef].RelPosition) - ppl.projectVector(m_actor->ar_nodes[torquenode].RelPosition);
        Vector3 cdir = orth.crossProduct(along);
        cdir.normalise();
        m_actor->ar_nodes[torquenode].Forces += (enginecouple / torquedist) * cdir;
    }
 
    float tipforce = (enginecouple / radius) / numblades;
    //okay, now we know the contribution from the engine
 
    //pitch
    if (fixed_pitch > 0)
        pitch = fixed_pitch;
    else
    {
        if (!reverse)
        {
            if (throtle < 0.01)
            {
                //beta range
                if (pitch > 0 && rpm < regspeed * 1.4)
                    pitch -= pitchspeed * dt;
                if (rpm > regspeed * 1.4)
                    pitch += pitchspeed * dt;
            }
            else
            {
                float dpitch = rpm - regspeed;
                if (dpitch > pitchspeed)
                    dpitch = pitchspeed;
                if (dpitch < -pitchspeed)
                    dpitch = -pitchspeed;
                if (!(dpitch < 0 && pitch < 0) && !(dpitch > 0 && pitch > 45))
                    pitch += dpitch * dt;
            }
        }
        else
        {
            if (rpm < regspeed * 1.1)
            {
                if (pitch < -4.0)
                    pitch += pitchspeed * dt;
                else
                    pitch -= pitchspeed * dt;
            }
            if (rpm > regspeed * 1.11)
            {
                pitch -= pitchspeed * dt;
            }
        }
    }
    if (!failed)
    {
        axis = m_actor->ar_nodes[noderef].RelPosition - m_actor->ar_nodes[nodeback].RelPosition;
        axis.normalise();
    }
    //estimate amount of energy
    float estrotenergy = 0.5 * numblades * m_actor->ar_nodes[nodep[0]].mass * radius * radius * (rpm / RAD_PER_SEC_TO_RPM) * (rpm / RAD_PER_SEC_TO_RPM);
    //for each blade
    float totthrust = 0;
    float tottorque = 0;
    for (int i = 0; i < numblades; i++)
    {
        if (!failed && ignition)
        {
            Vector3 totaltipforce = Vector3::ZERO;
            //span vector, left to right
            Vector3 spanv = (m_actor->ar_nodes[nodep[i]].RelPosition - m_actor->ar_nodes[noderef].RelPosition);
            spanv.normalise();
            //chord vector, front to back
            Vector3 refchordv = -axis.crossProduct(spanv);
            //grab this for propulsive forces
            Vector3 tipf = -refchordv;
            totaltipforce += (tipforce - rpm / 10.0) * tipf; //add a bit of mechanical friction
            //for each blade segment (there are 6 elements)
            for (int j = 0; j < 5; j++) //outer to inner, the 6th blade element is ignored
            {
                //proportion
                float proport = ((float)j + 0.5) / 6.0;
                //evaluate wind direction
                Vector3 wind = -(m_actor->ar_nodes[nodep[i]].Velocity * (1.0 - proport) + m_actor->ar_nodes[noderef].Velocity * proport);
                float wspeed = wind.length();
 
                Vector3 liftv = spanv.crossProduct(-wind);
                liftv.normalise();
                //rotate according to pitch
                Vector3 chordv = Quaternion(Degree(pitch + twistmap[j] - 7.0), spanv) * refchordv;
                //wing normal
                Vector3 normv = chordv.crossProduct(spanv);
                //calculate angle of attack
                Vector3 pwind = Plane(Vector3::ZERO, normv, chordv).projectVector(wind);
                Vector3 dumb;
                Degree daoa;
                chordv.getRotationTo(pwind).ToAngleAxis(daoa, dumb);
                float aoa = daoa.valueDegrees();
                float raoa = daoa.valueRadians();
                if (dumb.dotProduct(spanv) > 0)
                {
                    aoa = -aoa;
                    raoa = -raoa;
                };
                //get airfoil data
                float cz, cx, cm;
                airfoil->getparams(aoa, 1.0, 0.0, &cz, &cx, &cm);
                //surface computation
                float s = radius * bladewidth / 6.0;
 
                //drag
                //wforce=(8.0*cx+cx*cx/(3.14159*radius/0.4))*0.5*airdensity*wspeed*s*wind;
                Vector3 eforce = (4.0 * cx + cx * cx / (3.14159 * radius / bladewidth)) * 0.5 * airdensity * wspeed * s * wind;
                //lift
                float lift = cz * 0.5 * airdensity * wspeed * wspeed * s;
                eforce += lift * liftv;
                totthrust += eforce.dotProduct(axis);
 
                //apply forces
                m_actor->ar_nodes[noderef].Forces += eforce * proport;
                totaltipforce += eforce * (1.0 - proport);
            }
            tottorque += tipf.dotProduct(totaltipforce) * radius;
            //correct amount of energy
            float correctfm_actor = 0;
            if (rpm > 100)
                correctfm_actor = (rotenergy - estrotenergy) / (numblades * radius * dt * rpm / RAD_PER_SEC_TO_RPM);
            if (correctfm_actor > 1000.0)
                correctfm_actor = 1000.0;
            if (correctfm_actor < -1000.0)
                correctfm_actor = -1000.0;
            m_actor->ar_nodes[nodep[i]].Forces += totaltipforce + correctfm_actor * tipf;
        }
        else if (!m_actor->ar_nodes[noderef].Velocity.isZeroLength())
        {
            //failed case
            //add drag
            Vector3 wind = -m_actor->ar_nodes[nodep[i]].Velocity;
            // determine nodes speed and divide by engines speed (with some magic numbers for tuning) to keep it rotating longer when shutoff in flight and stop after a while when plane is stopped (on the ground)
            float wspeed = (wind.length() / 15.0f) / (m_actor->ar_nodes[noderef].Velocity.length() / 2.0f);
            m_actor->ar_nodes[nodep[i]].Forces += airdensity * wspeed * wind;
        }
    }
    //compute the next energy level
    rotenergy += (double)tottorque * dt * rpm / RAD_PER_SEC_TO_RPM;
    //  sprintf(debug, "pitch %i thrust %i totenergy=%i apparentenergy=%i", (int)pitch, (int)totthrust, (int)rotenergy, (int)estrotenergy);
    //prop wash
    float speed = m_actor->ar_nodes[noderef].Velocity.length();
    float thrsign = 1.0;
    if (totthrust < 0)
    {
        thrsign = -0.1;
        totthrust = -totthrust;
    };
    if (!failed)
        propwash = thrsign * sqrt(totthrust / (0.5 * airdensity * proparea) + speed * speed) - speed;
    else
        propwash = 0;
    if (propwash < 0)
        propwash = 0;
}
 
void Turboprop::setThrottle(float val)
{
    if (val > 1.0)
        val = 1.0;
    if (val < 0.0)
        val = 0.0;
    throtle = val;
    SOUND_MODULATE(m_actor->ar_instance_id, thr_id, val);
}
 
float Turboprop::getThrottle()
{
    return throtle;
}
 
void Turboprop::setRPM(float _rpm)
{
    rpm = _rpm;
}
 
void Turboprop::reset()
{
    rpm = 0;
    throtle = 0;
    failed = false;
    ignition = false;
    reverse = false;
    pitch = 0;
    rotenergy = 0;
}
 
void Turboprop::toggleReverse()
{
    throtle = 0;
    reverse = !reverse;
    pitch = 0;
}
 
void Turboprop::setReverse(bool val)
{
    reverse = val;
}
 
void Turboprop::flipStart()
{
    if (timer - lastflip < 0.3)
        return;
    ignition = !ignition;
    if (ignition && !failed)
    {
        warmup = true;
        warmupstart = timer;
        SOUND_START(m_actor->ar_instance_id, src_id);
    }
    else
    {
        SOUND_STOP(m_actor->ar_instance_id, src_id);
    }
    lastflip = timer;
}