public BateauAVoile(SimEngine engine, String name, SimFeatures features) {
super(engine, name, features);
forces = new ArrayList<Force>();
BateauAVoileFeatures bavFeatures = (BateauAVoileFeatures) features;
gouvernail =
(Gouvernail)
createChild(
engine, Gouvernail.class, "Gouvernail", bavFeatures.getGouvernailFeatures());
voile = (Voile) createChild(engine, Voile.class, "Voile", bavFeatures.getVoileFeatures());
}
@Override
protected void ComputeUntypedRate(IContinuousState ROstate, IContinuousRate WOrate) {
SailBoatState etat = (SailBoatState) ROstate;
SailBoatRate taux = (SailBoatRate) WOrate;
BateauAVoileInit init = (BateauAVoileInit) getInitParameters();
BateauAVoileFeatures tno = (BateauAVoileFeatures) getFeatures();
// if(CurrentDate().toString().compareTo("01/09/2014 06:00:00.62")==0)
// System.out.println("ici");
// identification des axes du bateau
Rotation rz = new Rotation(Vector3D.PLUS_K, etat.getTheta());
Vector3D axe_x = rz.applyTo(Vector3D.PLUS_I);
Vector3D axe_y_horizontal = rz.applyTo(Vector3D.PLUS_J);
Rotation r_axe_x = new Rotation(axe_x, etat.getPhi());
Vector3D axe_y = r_axe_x.applyTo(axe_y_horizontal);
Vector3D axe_z = r_axe_x.applyTo(Vector3D.PLUS_K);
// Points application des forces
Vector3D CcG = axe_y_horizontal.scalarMultiply(tno.getCg_CC_Max() * Math.sin(etat.getPhi()));
Vector3D CcVc = axe_x.scalarMultiply(tno.getrV());
Vector3D CcRg = axe_x.scalarMultiply(-tno.getrG());
Vector3D CcCV = CcVc.add(voile.getCV());
// bilan des forces
Vector3D poids = Environment.g.scalarMultiply(tno.getM());
Vector3D fv = voile.getFv();
Vector3D fg = gouvernail.getFg();
Vector3D f_friction = etat.getVel().scalarMultiply(-tno.getAlphaF());
Vector3D fAntiDerive =
axe_y_horizontal.scalarMultiply(
-Math.signum(etat.getVel().dotProduct(axe_y_horizontal))
* 0.5
* 1000
* (0.4 * Math.pow(etat.getVel().dotProduct(axe_y_horizontal) * 1.5, 2)));
// archimede compense les composantes selon z du gouvernail et de la voile
Vector3D archimede =
poids
.scalarMultiply(-1)
.add(Vector3D.PLUS_K.scalarMultiply(-Vector3D.PLUS_K.dotProduct(fg.add(fv))));
forces.clear();
// forces.add(new Force(CcG,poids));
// forces.add(new Force(Vector3D.ZERO,archimede));
forces.add(new Force(CcCV, fv));
forces.add(new Force(CcRg, fg));
forces.add(new Force(CcG, etat.getVel()));
// bilan des moments en Cc suivant l'axe x du bateau
// contribution de la force vélique
M1 =
axe_z
.scalarMultiply(Math.abs(CcCV.dotProduct(axe_z)))
.crossProduct(axe_y.scalarMultiply(fv.dotProduct(axe_y)))
.dotProduct(axe_x);
// contribution du poids
M2 = CcG.crossProduct(poids).dotProduct(axe_x);
// antifriction selon
M3 = -tno.getAlphaTheta() * etat.getPhi_point();
// bilan des moments en Cc suivant l'axe z du bateau
// contribution de la force vélique
M4 = CcVc.crossProduct(axe_y.scalarMultiply(fv.dotProduct(axe_y))).dotProduct(axe_z);
// contribution du gouvernail
M5 = CcRg.crossProduct(axe_y.scalarMultiply(fg.dotProduct(axe_y))).dotProduct(axe_z);
// contribution du couple anti friction
M6 = -tno.getAlphaTheta() * etat.getTheta_point();
taux.setCurvRate(etat.getVel().getNorm()); // abscisse curviligne
taux.setPosRate(etat.getVel());
taux.setVelRate(
poids
.add(archimede)
.add(fv)
.add(fg)
.add(f_friction)
.scalarMultiply(1 / tno.getM())
.add(fAntiDerive));
taux.setPhi_rate(etat.getPhi_point());
taux.setPhi_point_rate((M1 + M2 + M3) * 1.0 / tno.getJx());
taux.setTheta_rate(etat.getTheta_point());
taux.setTheta_point_rate((M4 + M5 + M6) * 1.0 / tno.getJz());
}
@Override
public double getPositionRelativeGouvernail() {
BateauAVoileFeatures bavf = (BateauAVoileFeatures) getFeatures();
return bavf.getrG();
}
@Override
public double getPositionRelativeAncrageVoileSurCoque() {
BateauAVoileFeatures bavf = (BateauAVoileFeatures) getFeatures();
return bavf.getrV();
}
