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Remove model::Stage for now. It'll be good in the future, but makes initial development more complex. Prototype with single stage rocket for now while working out the physics engine

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This commit is contained in:
Travis Hunter 2024-03-17 08:13:24 -06:00
parent 63a5b8995f
commit 46eca1136f
10 changed files with 178 additions and 164 deletions
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4
gui/AnalysisWindow.cpp
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@ -92,7 +92,7 @@ void AnalysisWindow::onButton_plotVelocity_clicked()
void AnalysisWindow::onButton_plotMotorCurve_clicked()
{
std::shared_ptr<model::Rocket> rocket = QtRocket::getInstance()->getRocket();
model::MotorModel& motor = rocket->getCurrentStage()->getMotorModel();
model::MotorModel motor = rocket->getMotorModel();
ThrustCurve tc = motor.getThrustCurve();
@ -122,4 +122,4 @@ void AnalysisWindow::onButton_plotMotorCurve_clicked()
plot->yAxis->setRange(*std::min_element(std::begin(fData), std::end(fData)), *std::max_element(std::begin(fData), std::end(fData)));
plot->replot();
}
}

5
model/CMakeLists.txt
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@ -9,10 +9,9 @@ add_library(model
Propagatable.h
Rocket.cpp
Rocket.h
Stage.cpp
Stage.h
ThrustCurve.cpp
ThrustCurve.h)
ThrustCurve.h
InertiaTensors.h)
target_link_libraries(model PRIVATE
utils)

70
model/InertiaTensors.h Normal file
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@ -0,0 +1,70 @@
#ifndef INERTIATENSORS_H
#define INERTIATENSORS_H
#include "utils/math/MathTypes.h"
namespace model
{
/**
* @brief The InertiaTensors class provides a collection of methods to
* deliver some common inertia tensors centered about the center of mass
*/
class InertiaTensors
{
public:
/**
* @brief SolidSphere
* @param radius (meters)
* @return
*/
static Matrix3 SolidSphere(double radius)
{
double xx = 0.4*radius*radius;
double yy = xx;
double zz = xx;
return Matrix3{{xx, 0, 0},
{0, yy, 0},
{0, 0, zz}};
}
/**
* @brief HollowSphere
* @param radius (meters)
* @return
*/
static Matrix3 HollowSphere(double radius)
{
double xx = (2.0/3.0)*radius*radius;
double yy = xx;
double zz = xx;
return Matrix3{{xx, 0, 0},
{0, yy, 0},
{0, 0, zz}};
}
/**
* @brief Tube - The longitudinal axis is the z-axis. Can also be used for a solid cylinder
* when innerRadius = 0.0
* @param innerRadius (meters)
* @param outerRadius (meters)
* @param length (meters)
* @return
*/
static Matrix3 Tube(double innerRadius, double outerRadius, double length)
{
double xx = (1.0/12.0)*(3.0*(innerRadius*innerRadius + outerRadius*outerRadius) + length*length);
double yy = xx;
double zz = (1.0/2.0)*(innerRadius*innerRadius + outerRadius*outerRadius);
return Matrix3{{xx, 0.0, 0.0},
{0.0, yy, 0.0},
{0.0, 0.0, zz}};
}
};
}
#endif // INERTIATENSORS_H

4
model/Part.h
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@ -63,7 +63,9 @@ public:
// Set the inertia tensor
void setI(const Matrix3& I) { inertiaTensor = I; }
Matrix3 getI() { return inertiaTensor; }
Matrix3 getCompositeI() { return compositeInertiaTensor; }
void setCm(const Vector3& x) { cm = x; }
// Special version of setCM that assumes the cm lies along the body x-axis
void setCm(double x) { cm = {x, 0.0, 0.0}; }

16
model/Propagatable.h
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@ -11,6 +11,7 @@
// qtrocket headers
#include "sim/Aero.h"
#include "sim/StateData.h"
#include "utils/math/MathTypes.h"
namespace model
{
@ -21,14 +22,15 @@ public:
Propagatable() {}
virtual ~Propagatable() {}
virtual double getDragCoefficient() = 0;
virtual void setDragCoefficient(double d) = 0;
virtual bool terminateCondition(const std::pair<double, StateData>&) = 0;
virtual Vector3 getForces(double t) = 0;
virtual Vector3 getTorques(double t) = 0;
virtual double getMass(double t) = 0;
virtual double getThrust(double t) = 0;
private:
virtual Matrix3 getInertiaTensor(double t) = 0;
virtual bool terminateCondition(double t) = 0;
protected:
sim::Aero aeroData;
@ -37,4 +39,4 @@ private:
}
#endif // MODEL_PROPAGATABLE_H
#endif // MODEL_PROPAGATABLE_H

66
model/Rocket.cpp
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@ -1,51 +1,79 @@
// qtrocket headers
#include "Rocket.h"
#include "QtRocket.h"
#include "InertiaTensors.h"
namespace model
{
Rocket::Rocket()
: topPart("NoseCone", InertiaTensors::SolidSphere(1.0), 1.0, {0.0, 0.0, 1.0})
{
// A rocket needs at least one stage. Upon creation, we need to create at least one stage
currentStage.reset(new Stage("sustainer"));
stages.push_back(currentStage);
}
void Rocket::launch()
double Rocket::getMass(double t)
{
currentStage->getMotorModel().startMotor(0.0);
double mass = mm.getMass(t);
mass += topPart.getCompositeMass(t);
return mass;
}
void Rocket::setMotorModel(const model::MotorModel& motor)
Matrix3 Rocket::getInertiaTensor(double)
{
currentStage->setMotorModel(motor);
return topPart.getCompositeI();
}
bool Rocket::terminateCondition(const std::pair<double, StateData>& cond)
bool Rocket::terminateCondition(double)
{
// Terminate propagation when the z coordinate drops below zero
if(cond.second.position[2] < 0)
if(state.position[2] < 0)
return true;
else
return false;
}
double Rocket::getThrust(double t)
Vector3 Rocket::getForces(double t)
{
return currentStage->getMotorModel().getThrust(t);
// Get thrust
// Assume that thrust is always through the center of mass and in the rocket's Z-axis
Vector3 forces{0.0, 0.0, mm.getThrust(t)};
// Get gravity
auto gravityModel = QtRocket::getInstance()->getEnvironment()->getGravityModel();
Vector3 gravity = gravityModel->getAccel(state.position)*getMass(t);
forces += gravity;
// Calculate aero forces
return forces;
}
double Rocket::getMass(double t)
Vector3 Rocket::getTorques(double t)
{
double totalMass = 0.0;
for(const auto& stage : stages)
{
totalMass += stage->getMass(t);
}
return totalMass;
return Vector3{0.0, 0.0, 0.0};
}
double Rocket::getThrust(double t)
{
return mm.getThrust(t);
}
void Rocket::launch()
{
mm.startMotor(0.0);
}
void Rocket::setMotorModel(const model::MotorModel& motor)
{
mm = motor;
}
} // namespace model

53
model/Rocket.h
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@ -13,10 +13,13 @@
/// \endcond
// qtrocket headers
#include "model/Part.h"
#include "sim/Propagator.h"
#include "model/MotorModel.h"
#include "model/Stage.h"
#include "model/Propagatable.h"
// Not yet
//#include "model/Stage.h"
namespace model
{
@ -45,19 +48,30 @@ public:
*/
void launch();
Vector3 getForces(double t) override;
Vector3 getTorques(double t) override;
/**
* @brief getMass returns current rocket mass
* @param t current simulation time
* @return mass in kg
*/
double getMass(double t) override;
/**
* @brief terminateCondition returns true or false, whether the passed-in time/state matches the terminate condition
* @param cond time/state pair
* @return true if the passed-in time/state satisfies the terminate condition
*/
bool terminateCondition(double t) override;
Matrix3 getInertiaTensor(double t) override;
/**
* @brief getThrust returns current motor thrust
* @param t current simulation time
* @return thrust in Newtons
*/
double getThrust(double t) override;
double getThrust(double t);
/**
* @brief getMass returns current rocket
* @param t current simulation time
* @return mass in kg
*/
double getMass(double t) override;
/**
* @brief setMotorModel
@ -65,18 +79,18 @@ public:
*/
void setMotorModel(const model::MotorModel& motor);
/**
* @brief getMotorModel
*/
MotorModel getMotorModel() { return mm; }
/**
* @brief Returns the current motor model.
* @return The current motor model
*/
//const model::MotorModel& getCurrentMotorModel() const { return mm; }
/**
* @brief terminateCondition returns true or false, whether the passed-in time/state matches the terminate condition
* @param cond time/state pair
* @return true if the passed-in time/state satisfies the terminate condition
*/
bool terminateCondition(const std::pair<double, StateData>& cond) override;
/**
* @brief setName sets the rocket name
@ -84,20 +98,17 @@ public:
*/
void setName(const std::string& n) { name = n; }
double getDragCoefficient() override { return 1.0; }
void setDragCoefficient(double d) override { }
double getDragCoefficient() { return 1.0; }
void setDragCoefficient(double d) { }
void setMass(double m) { }
std::shared_ptr<Stage> getCurrentStage() { return currentStage; }
private:
std::string name; /// Rocket name
std::vector<std::shared_ptr<Stage>> stages;
std::shared_ptr<Stage> currentStage;
//model::MotorModel mm; /// Current Motor Model
model::MotorModel mm; /// Current Motor Model
model::Part topPart;
};

26
model/Stage.cpp
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@ -1,26 +0,0 @@
/// \cond
// C headers
// C++ headers
// 3rd party headers
/// \endcond
// qtrocket headers
#include "Stage.h"
namespace model
{
Stage::Stage(const std::string& inName)
: name(inName)
{}
Stage::~Stage()
{}
void Stage::setMotorModel(const model::MotorModel& motor)
{
mm = motor;
}
} // namespace model

75
model/Stage.h
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@ -1,75 +0,0 @@
#ifndef SIM_STAGE_H
#define SIM_STAGE_H
/// \cond
// C headers
// C++ headers
#include <string>
#include <memory>
// 3rd party headers
/// \endcond
// qtrocket headers
#include "model/MotorModel.h"
#include "model/Part.h"
#include "model/Propagatable.h"
namespace model
{
class Stage : public Propagatable
{
public:
Stage(const std::string& inName);
virtual ~Stage();
/**
* @brief setMotorModel
* @param motor
*/
void setMotorModel(const model::MotorModel& motor);
/**
* @brief Returns the current motor model.
* @return The current motor model
*/
model::MotorModel& getMotorModel() { return mm; }
virtual double getMass(double t) override
{
if(topPart)
{
return topPart->getCompositeMass(t) + mm.getMass(t);
}
else
return 0.0;
}
virtual double getDragCoefficient() override { return 1.0 ;}
virtual void setDragCoefficient(double d) override {}
virtual bool terminateCondition(const std::pair<double, StateData>& cond) override
{
// Terminate propagation when the z coordinate drops below zero
if(cond.second.position[2] < 0)
return true;
else
return false;
}
virtual double getThrust(double t) override { return mm.getThrust(t); }
private:
std::string name;
std::shared_ptr<Part> topPart;
model::MotorModel mm;
Vector3 motorModelPosition; // position of motor cg w.r.t. the stage c.g.
};
} // namespace model
#endif // SIM_STAGE_H

23
sim/Propagator.cpp
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@ -153,7 +153,7 @@ void Propagator::runUntilTerminate()
{
states.push_back(std::make_pair(currentTime, nextState));
}
if(object->terminateCondition(std::make_pair(currentTime, currentState)))
if(object->terminateCondition(currentTime))
break;
currentTime += timeStep;
@ -175,23 +175,26 @@ double Propagator::getMass()
double Propagator::getForceX()
{
QtRocket* qtrocket = QtRocket::getInstance();
return (currentState.velocity[0] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2])/ 2.0 * 0.008107 * object->getDragCoefficient() * currentState.velocity[0]* currentState.velocity[0];
return 0.0;
//QtRocket* qtrocket = QtRocket::getInstance();
//return (currentState.velocity[0] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2])/ 2.0 * 0.008107 * object->getDragCoefficient() * currentState.velocity[0]* currentState.velocity[0];
}
double Propagator::getForceY()
{
QtRocket* qtrocket = QtRocket::getInstance();
return (currentState.velocity[1] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2]) / 2.0 * 0.008107 * object->getDragCoefficient() * currentState.velocity[1]* currentState.velocity[1];
return 0.0;
//QtRocket* qtrocket = QtRocket::getInstance();
//return (currentState.velocity[1] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2]) / 2.0 * 0.008107 * object->getDragCoefficient() * currentState.velocity[1]* currentState.velocity[1];
}
double Propagator::getForceZ()
{
QtRocket* qtrocket = QtRocket::getInstance();
double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState.position[0], currentState.position[1], currentState.position[2]))[2];
double airDrag = (currentState.velocity[2] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2]) / 2.0 * 0.008107 * object->getDragCoefficient() * currentState.velocity[2]* currentState.velocity[2];
double thrust = object->getThrust(currentTime);
return gravity + airDrag + thrust;
return 0.0;
//QtRocket* qtrocket = QtRocket::getInstance();
//double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentState.position[0], currentState.position[1], currentState.position[2]))[2];
//double airDrag = (currentState.velocity[2] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentState.position[2]) / 2.0 * 0.008107 * object->getDragCoefficient() * currentState.velocity[2]* currentState.velocity[2];
//double thrust = object->getThrust(currentTime);
//return gravity + airDrag + thrust;
}
double Propagator::getTorqueP() { return 0.0; }