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Merge pull request #649 from teyrana/641-fix-cg

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[fixes #641] MassCalculator now accounts for rotations in the tree
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Daniel Williams 2020-05-07 18:32:29 -04:00 committed by GitHub
commit 5e264c8604
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 463 additions and 399 deletions
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60
core/src/net/sf/openrocket/masscalc/MassCalculation.java
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@ -54,7 +54,7 @@ public class MassCalculation {
// =========== Instance Functions ======================== // =========== Instance Functions ========================
public void merge( final MassCalculation other ) { public void merge( final MassCalculation other ) {
if( 0 < other.getMass()) { if( MIN_MASS < other.getMass()) {
// Adjust Center-of-mass // Adjust Center-of-mass
this.addMass( other.getCM() ); this.addMass( other.getCM() );
this.bodies.addAll( other.bodies ); this.bodies.addAll( other.bodies );
@ -66,7 +66,7 @@ public class MassCalculation {
} }
public void addMass( final Coordinate pointMass ) { public void addMass( final Coordinate pointMass ) {
if( 0 == this.centerOfMass.weight ){ if( MIN_MASS > this.centerOfMass.weight ){
this.centerOfMass = pointMass; this.centerOfMass = pointMass;
}else { }else {
this.centerOfMass = this.centerOfMass.average( pointMass); this.centerOfMass = this.centerOfMass.average( pointMass);
@ -266,19 +266,26 @@ public class MassCalculation {
final RocketComponent component = this.root; final RocketComponent component = this.root;
final Transformation parentTransform = this.transform; final Transformation parentTransform = this.transform;
final int instanceCount = component.getInstanceCount(); final int instanceCount = component.getInstanceCount();
Coordinate[] instanceLocations = component.getInstanceLocations(); final Coordinate[] allInstanceOffsets = component.getInstanceLocations();
final double[] allInstanceAngles = component.getInstanceAngles();
// // vvv DEBUG
// if( this.config.isComponentActive(component) ){ // // vvv DEBUG
// System.err.println(String.format( "%s[%s]....", prefix, component.getName())); // if( this.config.isComponentActive(component) ){
// } // System.err.println(String.format( "%s>>[%s]....", prefix, component.getName()));
// }
// iterate over the aggregated instances for the whole tree. // iterate over the aggregated instances for the whole tree.
MassCalculation children = this.copy(component, parentTransform ); MassCalculation children = this.copy(component, parentTransform );
for( int instanceNumber = 0; instanceNumber < instanceCount; ++instanceNumber) { for( int currentInstanceNumber = 0; currentInstanceNumber < instanceCount; ++currentInstanceNumber) {
Coordinate currentLocation = instanceLocations[instanceNumber]; final Coordinate currentInstanceOffset = allInstanceOffsets[currentInstanceNumber];
Transformation currentTransform = parentTransform.applyTransformation( Transformation.getTranslationTransform( currentLocation )); final Transformation offsetTransform = Transformation.getTranslationTransform( currentInstanceOffset );
final double currentInstanceAngle = allInstanceAngles[currentInstanceNumber];
final Transformation angleTransform = Transformation.getAxialRotation(currentInstanceAngle);
final Transformation currentTransform = parentTransform.applyTransformation(offsetTransform)
.applyTransformation(angleTransform);
for (RocketComponent child : component.getChildren()) { for (RocketComponent child : component.getChildren()) {
// child data, relative to rocket reference frame // child data, relative to rocket reference frame
MassCalculation eachChild = copy( child, currentTransform); MassCalculation eachChild = copy( child, currentTransform);
@ -291,10 +298,10 @@ public class MassCalculation {
} }
} }
if( 0 < children.getMass() ) { if( MIN_MASS < children.getMass() ) {
this.merge( children ); this.merge( children );
// // vvv DEBUG // // vvv DEBUG
// System.err.println(String.format( "%s....assembly mass (incl/children): %s", prefix, this.toCMDebug())); // System.err.println(String.format( "%s....assembly mass (incl/children): %s", prefix, this.toCMDebug()));
} }
if (this.config.isComponentActive(component) ){ if (this.config.isComponentActive(component) ){
@ -302,8 +309,9 @@ public class MassCalculation {
if (!component.getOverrideSubcomponents()) { if (!component.getOverrideSubcomponents()) {
if (component.isMassOverridden()) { if (component.isMassOverridden()) {
// System.err.println("mass override=" + component.getOverrideMass());
compCM = compCM.setWeight(MathUtil.max(component.getOverrideMass(), MIN_MASS)); compCM = compCM.setWeight(MathUtil.max(component.getOverrideMass(), MIN_MASS));
// // vvv DEBUG
// System.err.println(String.format( "%s....mass overridden to: %s", prefix, compCM.toPreciseString()));
} }
if (component.isCGOverridden()) if (component.isCGOverridden())
compCM = compCM.setXYZ(component.getOverrideCG()); compCM = compCM.setXYZ(component.getOverrideCG());
@ -318,10 +326,10 @@ public class MassCalculation {
RigidBody componentInertia = new RigidBody( compCM, compIx, compIt, compIt ); RigidBody componentInertia = new RigidBody( compCM, compIx, compIt, compIt );
this.addInertia( componentInertia ); this.addInertia( componentInertia );
// vvv DEBUG // // vvv DEBUG
// if( 0 < compCM.weight ) { // if( 0 < compCM.weight ) {
// System.err.println(String.format( "%s....componentData: %s", prefix, compCM.toPreciseString() )); // System.err.println(String.format( "%s....componentData: %s", prefix, compCM.toPreciseString() ));
// } // }
if (component.getOverrideSubcomponents()) { if (component.getOverrideSubcomponents()) {
if (component.isMassOverridden()) { if (component.isMassOverridden()) {
@ -337,11 +345,11 @@ public class MassCalculation {
} }
} }
// // vvv DEBUG // // vvv DEBUG
// if( this.config.isComponentActive(component) && 0 < this.getMass() ) { // if( this.config.isComponentActive(component) && 0 < this.getMass() ) {
// System.err.println(String.format( "%s....<< return assemblyData: %s (tree @%s)", prefix, this.toCMDebug(), component.getName() )); // System.err.println(String.format( "%s....<< return data @ %s: %s", prefix, component.getName(), this.toCMDebug() ));
// } // }
// // ^^^ DEBUG // // ^^^ DEBUG
return this; return this;
} }
@ -390,7 +398,7 @@ public class MassCalculation {
} }
} }
if( 0 < children.getMass() ) { if( MIN_MASS < children.getMass() ) {
this.merge( children ); this.merge( children );
//System.err.println(String.format( "%s....assembly mass (incl/children): %s", prefix, this.toCMDebug())); //System.err.println(String.format( "%s....assembly mass (incl/children): %s", prefix, this.toCMDebug()));
} }

802
core/test/net/sf/openrocket/masscalc/MassCalculatorTest.java
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