Chrono help for example file

Comments on CHRONO example Missile.r3d

Simulation of a missile with vectorial control

What to do: press the play button on the animation bar. You will see that the missile will try to chase the target (the moving red sphere). Be sure to have the view camera looking at a large portion of sky.

This example shows a simulation of a missile with vector control (the nozzle of the engine is tilted in order to change the direction of the rocket, with high performances even at low speeds).

Note that the nozzle is mounted on a Cardano gimbal (exploiting two orthogonal motorized revolute joints). Each of the two degrees of freedom of the nozzle is controlled by a 'motor' link. The angle of rotation of the motor is then controlled by the scripts in chrono/javascript/missile_control/.. , thank to the 'Control system' object. The control algorithm in these javascript programs is quite simple -it just applies nozzle rotation depending on the mutual position of missile and target- but more advanced control schemes can be implemented.