<%
body_density = 1500
body_radius = 0.3
body_length = 2.6
body_volume = body_length*Math::PI*body_radius**2
spacer_radius = 0.0933402
spacer_length = 0.127211
mass = body_density*(body_volume)
body_ixx = mass/12.0 * (3*body_radius**2 + body_length**2 )
body_iyy = mass/12.0 * (3*body_radius**2 + body_length**2 )
body_izz = mass/2.0 * body_radius**2
blade_dx = 0.5
blade_dy = 0.154178
blade_dz = 0.05455
blade_volume = blade_dx * blade_dy * blade_dz
blade_mass = blade_volume * body_density
total_blade_mass = 4*blade_mass
blade_ixx = total_blade_mass/12.0 * (blade_dx**2 + blade_dz**2)
blade_iyy = total_blade_mass/12.0 * (blade_dz**2 + blade_dx**2)
blade_izz = total_blade_mass/12.0 * (blade_dx**2 + blade_dx**2)
blade_angle = 45 * Math::PI/180
fluid_density = 999.1026
material_block =
'
'
%>
0 0 <%= blade_dx + 1.0 %> <%= Math::PI/2%> 0 0
0 0 -1.07935 0 0 0
<%= mass %>
<%= body_ixx %>
0
0
<%= body_iyy %>
0
<%= body_izz %>
<% body_geometry =
'
'+ body_radius.to_s + '
'+ body_length.to_s + '
'
%>
<%= body_geometry%>
<%= material_block%>
<%= body_geometry%>
<% spacer_geometry_pose =
'0 0 ' + (0.299196 + 1.07935).to_s + ' 0 0 0
'+ spacer_radius.to_s + '
'+ spacer_length.to_s + '
'
%>
<%= spacer_geometry_pose%>
<%= material_block%>
0 0 0.3455 3.14159 0 0
<%= total_blade_mass %>
<%= blade_ixx %>
0
0
<%= blade_iyy %>
0
<%= blade_izz %>
<% for i in 1..4
x = (i%2)*(spacer_radius + blade_dx/2)*(if i > 2 then -1 else 1 end)
y = ((i+1)%2)*(spacer_radius + blade_dx/2)*(if i > 2 then -1 else 1 end)
roll = blade_angle*(if i > 2 then -1 else 1 end)
yaw = ((i+1)%2)*Math::PI/2
geometry_pose =
'' + x.to_s + ' ' + y.to_s + ' 0 ' + roll.to_s + ' 0 ' + yaw.to_s + '
' + blade_dx.to_s + ' ' + blade_dy.to_s + ' ' + blade_dz.to_s + '
'
%>
>
<%= geometry_pose %>
<%= material_block%>
>
<%= geometry_pose %>
<% end %>
body
propeller
0 0 1
1
-1e+12
1e+12
-1
-1
1
<% lift_drag_properties =
"" + fluid_density.to_s + "\n" +
" " + (1.75/1.396).to_s + "\n" +
" " + (-0.25/0.1745).to_s + "\n" +
" 0\n" +
" " + (2/1.396).to_s + "\n" +
" " + 1.396.to_s + "\n" +
" 0\n"
%>
<%= fluid_density%>