public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Quaternion rotRef = Quaternion.identity;
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(velocityVesselOrbitNorm, up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(up, velocityVesselOrbitNorm), up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(velocityVesselSurfaceUnit, up);
break;
case AttitudeReference.CURFRAME:
if (vessel.altitude > vessel.mainBody.maxAtmosphereAltitude)
{
rotRef = Quaternion.LookRotation(velocityVesselOrbitNorm, up);
}
else
{
rotRef = Quaternion.LookRotation(velocityVesselSurfaceUnit, up);
}
break;
}
return(rotRef);
}
public void attitudeTo(Vector3d direction, AttitudeReference reference)
{
Vector3d up;
up = attitudeWorldToReference(vessel.ReferenceTransform.rotation * Quaternion.Euler(-90, 0, 0) * Vector3d.up, reference);
attitudeTo(Quaternion.LookRotation(direction, up), reference);
}
public bool attitudeTo(Vector3d direction, AttitudeReference reference, object controller)
{
bool ok = false;
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, attitudeGetReferenceRotation(reference) * direction));
Vector3 up, dir = direction;
if (!enabled || (ang_diff > 45))
{
up = attitudeWorldToReference(-vessel.GetTransform().forward, reference);
}
else
{
up = attitudeWorldToReference(attitudeReferenceToWorld(attitudeTarget * Vector3d.up, attitudeReference), reference);
}
Vector3.OrthoNormalize(ref dir, ref up);
ok = attitudeTo(Quaternion.LookRotation(dir, up), reference, controller);
if (ok)
{
_attitudeRollMatters = false;
return(true);
}
else
{
return(false);
}
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, object controller, bool AxisCtrlPitch = true, bool AxisCtrlYaw = true, bool AxisCtrlRoll = true)
{
users.Add(controller);
attitudeReference = reference;
attitudeTarget = attitude;
AxisControl(AxisCtrlPitch, AxisCtrlYaw, AxisCtrlRoll);
return(true);
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, object controller)
{
users.Add(controller);
attitudeReference = reference;
attitudeTarget = attitude;
AxisControl(true, true, true);
return(true);
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, object controller)
{
users.Add(controller);
attitudeReference = reference;
attitudeTarget = attitude;
_attitudeRollMatters = true;
return(true);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return(rotRef);
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.orbitalVelocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up);
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vesselState.CoM - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().Reorder(132).normalized, up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SURFACE_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.surfaceVelocity.normalized), vesselState.up);
break;
}
return(rotRef);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3d fwd, up;
switch (reference)
{
case AttitudeReference.INERTIAL:
return(Quaternion.identity);
case AttitudeReference.ORBIT:
return(Quaternion.LookRotation(vessel.GetObtVelocity(), vessel.up));
case AttitudeReference.ORBIT_HORIZONTAL:
return(Quaternion.LookRotation(Vector3d.Exclude(vessel.up, vessel.GetObtVelocity()), vessel.up));
case AttitudeReference.SURFACE_NORTH:
return(vesselState.rotationSurface);
case AttitudeReference.SURFACE_VELOCITY:
return(Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up));
case AttitudeReference.TARGET:
fwd = FlightGlobals.fetch.VesselTarget.GetTransform().position - vessel.GetTransform().position;
up = Vector3.Cross(fwd, vesselState.normalPlus);
return(Quaternion.LookRotation(fwd, up));
/* case AttitudeReference.RELATIVE_VELOCITY:
* throw new Exception("RELATIVE_VELOCTY unimplemented");
* case AttitudeReference.TARGET_ORIENTATION:
* throw new Exception("TARGET_ORIENTATION unimplemented"); */
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3.Cross(fwd, vesselState.normalPlus);
return(Quaternion.LookRotation(fwd, up));
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vessel.CoMD - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().xzy.normalized, up);
return(Quaternion.LookRotation(fwd, up));
case AttitudeReference.SURFACE_HORIZONTAL:
return(Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vessel.srf_velocity.normalized), vesselState.up));
default:
return(Quaternion.identity);
}
}
public Quaternion Direction(Vector3d d, AttitudeReference referer)
{
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(referer) * Target * Vector3d.forward, attitudeGetReferenceRotation(referer) * d));
Vector3 up, dir = d;
if ((ang_diff > 45))
{
up = attitudeWorldToReference(-vessel.ReferenceTransform.forward, referer);
}
else
{
up = attitudeWorldToReference(attitudeReferenceToWorld(Target * Vector3d.up, Reference), referer);
}
Vector3.OrthoNormalize(ref dir, ref up);
return(Quaternion.LookRotation(dir, up));
}
override public void activateAction()
{
base.activateAction();
this.smartAss.mode = Target2Mode[(int)target];
this.smartAss.target = target;
this.smartAss.srfHdg = this.srfHdg;
this.smartAss.srfPit = this.srfPit;
this.smartAss.srfRol = this.srfRol;
this.smartAss.srfVelYaw = this.srfVelYaw;
this.smartAss.srfVelPit = this.srfVelPit;
this.smartAss.srfVelRol = this.srfVelRol;
this.smartAss.rol = this.rol;
this.smartAss.advReference = this.advReference;
this.smartAss.advDirection = this.advDirection;
this.smartAss.forceRol = this.forceRol;
this.smartAss.forcePitch = this.forcePitch;
this.smartAss.forceYaw = this.forceYaw;
this.smartAss.Engage();
}
public bool attitudeTo(Vector3d direction, AttitudeReference reference, object controller)
{
//double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(reference) * direction, vesselState.forward));
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, attitudeGetReferenceRotation(reference) * direction));
Vector3 up, dir = direction;
// TODO : Fix that so it does not roll when it should not. Current fix is a "hack" that set required roll to 0 if !attitudeRollMatters
if (!enabled || (ang_diff > 45))
{
up = attitudeWorldToReference(-vessel.GetTransform().forward, reference);
}
else
{
up = attitudeWorldToReference(attitudeReferenceToWorld(attitudeTarget * Vector3d.up, attitudeReference), reference);
}
Vector3.OrthoNormalize(ref dir, ref up);
attitudeTo(Quaternion.LookRotation(dir, up), reference, controller);
_attitudeRollMatters = false;
return(true);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if (core.target.Target == null && (reference == AttitudeReference.TARGET || reference == AttitudeReference.TARGET_ORIENTATION || reference == AttitudeReference.RELATIVE_VELOCITY))
{
attitudeDeactivate();
return rotRef;
}
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return rotRef;
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.orbitalVelocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (core.target.Position - vessel.GetTransform().position).normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = core.target.RelativeVelocity.normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
Transform targetTransform = core.target.Transform;
if (core.target.CanAlign)
{
rotRef = Quaternion.LookRotation(targetTransform.forward, targetTransform.up);
}
else
{
rotRef = Quaternion.LookRotation(targetTransform.up, targetTransform.right);
}
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vesselState.CoM - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().Reorder(132).normalized, up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SURFACE_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.surfaceVelocity.normalized), vesselState.up);
break;
}
return rotRef;
}
public Vector3d attitudeReferenceToWorld(Vector3d vector, AttitudeReference reference)
{
return(attitudeGetReferenceRotation(reference) * vector);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if (core.target.Target == null && (reference == AttitudeReference.TARGET || reference == AttitudeReference.TARGET_ORIENTATION || reference == AttitudeReference.RELATIVE_VELOCITY))
{
attitudeDeactivate();
return(rotRef);
}
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return(rotRef);
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.orbitalVelocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (core.target.Position - vessel.GetTransform().position).normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = core.target.RelativeVelocity.normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
Transform targetTransform = core.target.Transform;
if (core.target.CanAlign)
{
rotRef = Quaternion.LookRotation(targetTransform.forward, targetTransform.up);
}
else
{
rotRef = Quaternion.LookRotation(targetTransform.up, targetTransform.right);
}
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vesselState.CoM - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().Reorder(132).normalized, up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SURFACE_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.surfaceVelocity.normalized), vesselState.up);
break;
}
return(rotRef);
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btAuto = new GUIStyle(btNormal);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
// If any other module use the attitude controler then let them do it
if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
if (autoDisableSmartASS)
{
target = Target.OFF;
if (core.attitude.users.Contains(this))
{
core.attitude.users.Remove(this); // so we don't suddenly turn on when the other autopilot finishes
}
}
GUILayout.Button("AUTO", btAuto, GUILayout.ExpandWidth(true));
}
else
{
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
TargetButton(Target.OFF);
TargetButton(Target.KILLROT);
if (vessel.patchedConicsUnlocked())
{
TargetButton(Target.NODE);
}
else
{
GUILayout.Button("-", GUILayout.ExpandWidth(true), GUILayout.ExpandHeight(true));
}
GUILayout.EndHorizontal();
GUILayout.Label("Mode:");
GUILayout.BeginHorizontal();
ModeButton(Mode.ORBITAL);
ModeButton(Mode.SURFACE);
ModeButton(Mode.TARGET);
ModeButton(Mode.ADVANCED);
GUILayout.EndHorizontal();
switch (mode)
{
case Mode.ORBITAL:
GUILayout.BeginHorizontal();
TargetButton(Target.PROGRADE);
TargetButton(Target.NORMAL_PLUS);
TargetButton(Target.RADIAL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.RETROGRADE);
TargetButton(Target.NORMAL_MINUS);
TargetButton(Target.RADIAL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
break;
case Mode.SURFACE:
double val = (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); // change by 5 if the mod_key is held down, else by 1
GUILayout.BeginHorizontal();
TargetButton(Target.SURFACE_PROGRADE);
TargetButton(Target.SURFACE_RETROGRADE);
TargetButtonNoEngage(Target.SURFACE);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.HORIZONTAL_PLUS);
TargetButton(Target.HORIZONTAL_MINUS);
TargetButton(Target.VERTICAL_PLUS);
GUILayout.EndHorizontal();
if (target == Target.SURFACE)
{
bool changed = false;
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("HDG", srfHdg, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfHdg -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfHdg += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfHdg = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35)))
{
srfHdg = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfPit += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfPit = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35)))
{
srfPit = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfRol += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfRol = 0;
changed = true;
}
if (GUILayout.Button("180", GUILayout.Width(35)))
{
srfRol = 180;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE"))
{
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
}
else if (target == Target.SURFACE_PROGRADE || target == Target.SURFACE_RETROGRADE)
{
bool changed = false;
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfVelRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfVelRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfVelRol += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false)))
{
srfVelRol = -vesselState.vesselRoll.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfVelRol = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfVelPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfVelPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfVelPit += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false)))
{
srfVelPit = vesselState.AoA.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfVelPit = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("YAW", srfVelYaw, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
srfVelYaw -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
srfVelYaw += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false)))
{
srfVelYaw = -vesselState.AoS.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false)))
{
srfVelYaw = 0;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE"))
{
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
}
break;
case Mode.TARGET:
if (core.target.NormalTargetExists)
{
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_PLUS);
TargetButton(Target.RELATIVE_PLUS);
TargetButton(Target.PARALLEL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_MINUS);
TargetButton(Target.RELATIVE_MINUS);
TargetButton(Target.PARALLEL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
}
else
{
GUILayout.Label("Please select a target");
}
break;
case Mode.ADVANCED:
GUILayout.Label("Reference:");
advReference = (AttitudeReference)GuiUtils.ComboBox.Box((int)advReference, ReferenceTexts, this);
GUILayout.Label("Direction:");
advDirection = (Vector6.Direction)GuiUtils.ComboBox.Box((int)advDirection, directionTexts, directionTexts);
ForceRoll();
if (GUILayout.Button("EXECUTE", btNormal, GUILayout.ExpandWidth(true)))
{
target = Target.ADVANCED;
Engage();
}
break;
case Mode.AUTO:
break;
}
GUILayout.EndVertical();
}
base.WindowGUI(windowID);
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, object controller)
{
//users.Add(controller);
attitudeReference = reference;
attitudeTarget = attitude;
AxisControl(true, true, true);
return true;
}
public Vector3d attitudeWorldToReference(Vector3d vector, AttitudeReference reference)
{
return Quaternion.Inverse(attitudeGetReferenceRotation(reference)) * vector;
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Quaternion rotRef = Quaternion.identity;
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.velocityVesselOrbitUnit, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.velocityVesselOrbitUnit), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.velocityVesselSurfaceUnit, vesselState.up);
break;
case AttitudeReference.TARGET:
switch (targetType)
{
case TargetType.VESSEL:
rotRef = Quaternion.LookRotation((targetVessel.findWorldCenterOfMass() - vesselState.CoM).normalized, -part.vessel.transform.forward);
break;
case TargetType.BODY:
rotRef = Quaternion.LookRotation((targetBody.position - vesselState.CoM).normalized, -part.vessel.transform.forward);
break;
}
break;
}
return rotRef;
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
attitudeReference = reference;
attitudeTarget = attitude;
_attitudeActive = true;
_attitudeRollMatters = true;
return true;
}
public Quaternion Direction(Vector3d d, AttitudeReference referer)
{
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(referer) * Target * Vector3d.forward, attitudeGetReferenceRotation(referer) * d));
Vector3 up, dir = d;
if ((ang_diff > 45))
{
up = attitudeWorldToReference(-vessel.ReferenceTransform.forward, referer);
}
else
{
up = attitudeWorldToReference(attitudeReferenceToWorld(Target * Vector3d.up, Reference), referer);
}
Vector3.OrthoNormalize(ref dir, ref up);
return Quaternion.LookRotation(dir, up);
}
public void SetMode(AttitudeMode mode, AttitudeButtonState input)
{
this.attitideActive = input.Active;
if (!input.Active)
{
return;
}
switch (mode)
{
case AttitudeMode.MANEUVERNODE:
if (input.MN != Quaternion.identity)
{
Target = input.MN;
Reference = AttitudeReference.INERTIAL;
}
else
{
Target = Quaternion.LookRotation(vessel.ReferenceTransform.up, -vessel.ReferenceTransform.forward);
Reference = AttitudeReference.INERTIAL;
}
break;
case AttitudeMode.KILLROT:
Target = Quaternion.LookRotation(vessel.ReferenceTransform.up, -vessel.ReferenceTransform.forward);
Reference = AttitudeReference.INERTIAL;
break;
case AttitudeMode.PROGRADE:
Target = Direction(Vector3d.forward, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.RETROGRADE:
Target = Direction(Vector3d.back, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.SRF_PROGRADE:
Target = Direction(Vector3d.forward, AttitudeReference.SURFACE_VELOCITY);
Reference = AttitudeReference.SURFACE_VELOCITY;
break;
case AttitudeMode.SRF_RETROGRADE:
Target = Direction(Vector3d.back, AttitudeReference.SURFACE_VELOCITY);
Reference = AttitudeReference.SURFACE_VELOCITY;
break;
case AttitudeMode.NORMAL_PLUS:
Target = Direction(Vector3d.left, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.NORMAL_MINUS:
Target = Direction(Vector3d.right, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.RADIAL_PLUS:
Target = Direction(Vector3d.up, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.RADIAL_MINUS:
Target = Direction(Vector3d.down, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.SURFACE:
if (input.USEROL)
Target = Quaternion.AngleAxis(input.HDG, Vector3.up) * Quaternion.AngleAxis(-input.PIT, Vector3.right) * Quaternion.AngleAxis(-input.ROL, Vector3.forward);
else
Target = Direction(Quaternion.AngleAxis(input.HDG, Vector3.up) * Quaternion.AngleAxis(-input.PIT, Vector3.right) * Vector3d.forward, AttitudeReference.SURFACE_NORTH);
Reference = AttitudeReference.SURFACE_NORTH;
break;
}
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Quaternion rotRef = Quaternion.identity;
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(velocityVesselOrbitNorm, up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(up, velocityVesselOrbitNorm), up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(velocityVesselSurfaceUnit, up);
break;
case AttitudeReference.CURFRAME:
if(vessel.altitude > vessel.mainBody.maxAtmosphereAltitude)
rotRef = Quaternion.LookRotation(velocityVesselOrbitNorm, up);
else
rotRef = Quaternion.LookRotation(velocityVesselSurfaceUnit, up);
break;
}
return rotRef;
}
public bool attitudeTo(Vector3d direction, AttitudeReference reference, object controller)
{
//double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(reference) * direction, vesselState.forward));
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, attitudeGetReferenceRotation(reference) * direction));
Vector3 up, dir = direction;
// TODO : Fix that so it does not roll when it should not. Current fix is a "hack" that set required roll to 0 if !attitudeRollMatters
if (!enabled || (ang_diff > 45))
{
up = attitudeWorldToReference(-vessel.GetTransform().forward, reference);
}
else
{
up = attitudeWorldToReference(attitudeReferenceToWorld(attitudeTarget * Vector3d.up, attitudeReference), reference);
}
Vector3.OrthoNormalize(ref dir, ref up);
attitudeTo(Quaternion.LookRotation(dir, up), reference, controller);
_attitudeRollMatters = false;
return true;
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, object controller)
{
users.Add(controller);
attitudeReference = reference;
attitudeTarget = attitude;
_attitudeRollMatters = true;
return true;
}
public void SetMode(AttitudeMode mode, AttitudeButtonState input)
{
this.attitideActive = input.Active;
if (!input.Active)
{
return;
}
switch (mode)
{
case AttitudeMode.MANEUVERNODE:
if (input.MN != Quaternion.identity)
{
Target = input.MN;
Reference = AttitudeReference.INERTIAL;
}
else
{
Target = Quaternion.LookRotation(vessel.ReferenceTransform.up, -vessel.ReferenceTransform.forward);
Reference = AttitudeReference.INERTIAL;
}
break;
case AttitudeMode.KILLROT:
Target = Quaternion.LookRotation(vessel.ReferenceTransform.up, -vessel.ReferenceTransform.forward);
Reference = AttitudeReference.INERTIAL;
break;
case AttitudeMode.PROGRADE:
Target = Direction(Vector3d.forward, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.RETROGRADE:
Target = Direction(Vector3d.back, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.SRF_PROGRADE:
Target = Direction(Vector3d.forward, AttitudeReference.SURFACE_VELOCITY);
Reference = AttitudeReference.SURFACE_VELOCITY;
break;
case AttitudeMode.SRF_RETROGRADE:
Target = Direction(Vector3d.back, AttitudeReference.SURFACE_VELOCITY);
Reference = AttitudeReference.SURFACE_VELOCITY;
break;
case AttitudeMode.NORMAL_PLUS:
Target = Direction(Vector3d.left, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.NORMAL_MINUS:
Target = Direction(Vector3d.right, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.RADIAL_PLUS:
Target = Direction(Vector3d.up, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.RADIAL_MINUS:
Target = Direction(Vector3d.down, AttitudeReference.ORBIT);
Reference = AttitudeReference.ORBIT;
break;
case AttitudeMode.SURFACE:
if (input.USEROL)
{
Target = Quaternion.AngleAxis(input.HDG, Vector3.up) * Quaternion.AngleAxis(-input.PIT, Vector3.right) * Quaternion.AngleAxis(-input.ROL, Vector3.forward);
}
else
{
Target = Direction(Quaternion.AngleAxis(input.HDG, Vector3.up) * Quaternion.AngleAxis(-input.PIT, Vector3.right) * Vector3d.forward, AttitudeReference.SURFACE_NORTH);
}
Reference = AttitudeReference.SURFACE_NORTH;
break;
}
}
public bool attitudeTo(Vector3d direction, AttitudeReference reference, ComputerModule controller)
{
bool ok = false;
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, attitudeGetReferenceRotation(reference) * direction));
if (!attitudeActive || (ang_diff > 45))
{
ok = attitudeTo(Quaternion.LookRotation(direction, attitudeWorldToReference(-part.vessel.transform.forward, reference)), reference, controller);
}
else
{
ok = attitudeTo(Quaternion.LookRotation(direction, attitudeWorldToReference(attitudeReferenceToWorld(attitudeTarget * Vector3d.up, attitudeReference), reference)), reference, controller);
}
if (ok)
{
_attitudeRollMatters = false;
return true;
}
else
{
return false;
}
}
public void attitudeTo(Quaternion attitude, AttitudeReference reference)
{
Enable();
this.attitude = attitude;
this.reference = reference;
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if (core.target.Target == null && (reference == AttitudeReference.TARGET || reference == AttitudeReference.TARGET_ORIENTATION || reference == AttitudeReference.RELATIVE_VELOCITY))
{
attitudeDeactivate();
return(rotRef);
}
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return(rotRef);
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vessel.obt_velocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vessel.obt_velocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vessel.srf_velocity.normalized, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (core.target.Position - vessel.GetTransform().position).normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = core.target.RelativeVelocity.normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
Transform targetTransform = core.target.Transform;
if (core.target.Target is ModuleDockingNode)
{
rotRef = Quaternion.LookRotation(targetTransform.forward, targetTransform.up);
}
else
{
rotRef = Quaternion.LookRotation(targetTransform.up, targetTransform.right);
}
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
}
return(rotRef);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return rotRef;
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.orbitalVelocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up);
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vesselState.CoM - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().Reorder(132).normalized, up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SURFACE_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.surfaceVelocity.normalized), vesselState.up);
break;
}
return rotRef;
}
override public void WindowGUI(int windowID)
{
base.preWindowGUI(windowID);
base.WindowGUI(windowID);
int modeSelectorIdx = TargetIsMode[(int)target]
? targetModeSelectorIdxs[(int)target]
: modeModeSelectorIdxs[(int)Target2Mode[(int)target]];
GUILayout.BeginHorizontal(GUILayout.Width(150));
modeSelectorIdx = GuiUtils.ComboBox.Box(modeSelectorIdx, modeStrings.ToArray(), modeStrings);
GUILayout.EndHorizontal();
bool showForceRol = false;
if (this.isTargetMode[modeSelectorIdx])
{
target = this.targetModes[modeSelectorIdx];
showForceRol = (target == MechJebModuleSmartASS.Target.NODE);
}
else
{
MechJebModuleSmartASS.Mode mode = this.modeModes[modeSelectorIdx];
List <String> targetStrings = this.targetStrings[(int)mode];
if (targetStrings.Count == 1)
{
target = this.targets[(int)mode][0];
}
else
{
int targetSelectorIdx = (Target2Mode[(int)target] == mode) ? targetSelectorIdxs[(int)target] : 0;
GUILayout.BeginHorizontal(GUILayout.Width(160));
targetSelectorIdx = GuiUtils.ComboBox.Box(targetSelectorIdx, targetStrings.ToArray(), targetStrings);
GUILayout.EndHorizontal();
target = this.targets[(int)mode][targetSelectorIdx];
}
switch (mode)
{
case MechJebModuleSmartASS.Mode.ORBITAL:
case MechJebModuleSmartASS.Mode.TARGET:
showForceRol = true;
break;
case MechJebModuleSmartASS.Mode.ADVANCED:
GUILayout.BeginHorizontal(GUILayout.Width(220));
advReference = (AttitudeReference)GuiUtils.ComboBox.Box((int)advReference, ReferenceTexts, ReferenceTexts);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal(GUILayout.Width(200));
advDirection = (Vector6.Direction)GuiUtils.ComboBox.Box((int)advDirection, DirectionTexts, DirectionTexts);
GUILayout.EndHorizontal();
showForceRol = true;
break;
}
switch (target)
{
case MechJebModuleSmartASS.Target.SURFACE:
GUILayout.Label("", GUI.skin.label, GUILayout.ExpandWidth(true));
forceYaw = GUILayout.Toggle(forceYaw, "Heading: ", GUILayout.ExpandWidth(false));
srfHdg.text = GUILayout.TextField(srfHdg.text, GUILayout.ExpandWidth(false), GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(true));
forcePitch = GUILayout.Toggle(forcePitch, "Pitch: ", GUILayout.ExpandWidth(false));
srfPit.text = GUILayout.TextField(srfPit.text, GUILayout.ExpandWidth(false), GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(true));
forceRol = GUILayout.Toggle(forceRol, "Roll: ", GUILayout.ExpandWidth(false));
srfRol.text = GUILayout.TextField(srfRol.text, GUILayout.ExpandWidth(false), GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(false));
break;
case MechJebModuleSmartASS.Target.SURFACE_PROGRADE:
case MechJebModuleSmartASS.Target.SURFACE_RETROGRADE:
GUILayout.Label("", GUI.skin.label, GUILayout.ExpandWidth(true));
forcePitch = GUILayout.Toggle(forcePitch, "Pitch: ", GUILayout.ExpandWidth(false));
srfVelPit.text = GUILayout.TextField(srfVelPit.text, GUILayout.ExpandWidth(false), GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(true));
forceRol = GUILayout.Toggle(forceRol, "Roll: ", GUILayout.ExpandWidth(false));
srfVelRol.text = GUILayout.TextField(srfVelRol.text, GUILayout.ExpandWidth(false), GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(true));
forceYaw = GUILayout.Toggle(forceYaw, "Yaw: ", GUILayout.ExpandWidth(false));
srfVelYaw.text = GUILayout.TextField(srfVelYaw.text, GUILayout.ExpandWidth(false), GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(false));
break;
}
}
GUILayout.Label("", GUILayout.ExpandWidth(true));
if (showForceRol)
{
forceRol = GUILayout.Toggle(forceRol, "Force Roll: ", GUILayout.ExpandWidth(false));
rol.text = GUILayout.TextField(rol.text, GUILayout.Width(37));
GUILayout.Label("°", GUILayout.ExpandWidth(false));
}
targetName = TargetTexts[(int)target];
base.postWindowGUI(windowID);
}
public Vector3d attitudeReferenceToWorld(Vector3d vector, AttitudeReference reference)
{
return attitudeGetReferenceRotation(reference) * vector;
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if (core.target.Target == null && (reference == AttitudeReference.TARGET || reference == AttitudeReference.TARGET_ORIENTATION || reference == AttitudeReference.RELATIVE_VELOCITY))
{
attitudeDeactivate();
return(rotRef);
}
if ((reference == AttitudeReference.MANEUVER_NODE || reference == AttitudeReference.MANEUVER_NODE_COT) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return(rotRef);
}
Vector3d thrustForward = vesselState.thrustForward;
// the off-axis thrust modifications get into a fight with the differential throttle so do not use them when diffthrottle is used
if (core.thrust.differentialThrottle)
{
thrustForward = vesselState.forward;
}
switch (reference)
{
case AttitudeReference.INERTIAL_COT:
rotRef = Quaternion.FromToRotation(thrustForward, vesselState.forward) * rotRef;
break;
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.orbitalVelocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_NORTH_COT:
rotRef = vesselState.rotationSurface;
rotRef = Quaternion.FromToRotation(thrustForward, vesselState.forward) * rotRef;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (core.target.Position - vessel.GetTransform().position).normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = core.target.RelativeVelocity.normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
Transform targetTransform = core.target.Transform;
if (core.target.CanAlign)
{
rotRef = Quaternion.LookRotation(targetTransform.forward, targetTransform.up);
}
else
{
rotRef = Quaternion.LookRotation(targetTransform.up, targetTransform.right);
}
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.MANEUVER_NODE_COT:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
rotRef = Quaternion.FromToRotation(thrustForward, vesselState.forward) * rotRef;
break;
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vesselState.CoM - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().xzy.normalized, up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SURFACE_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.surfaceVelocity.normalized), vesselState.up);
break;
}
return(rotRef);
}
public bool attitudeTo(Vector3d direction, AttitudeReference reference, object controller)
{
//double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, attitudeGetReferenceRotation(reference) * direction));
Vector3 up, dir = direction;
if (!enabled)
{
up = attitudeWorldToReference(-vessel.GetTransform().forward, reference);
}
else
{
up = attitudeWorldToReference(attitudeReferenceToWorld(attitudeTarget * Vector3d.up, attitudeReference), reference);
}
Vector3.OrthoNormalize(ref dir, ref up);
attitudeTo(Quaternion.LookRotation(dir, up), reference, controller);
AxisControl(true, true, false);
return true;
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if (core.target.Target == null && (reference == AttitudeReference.TARGET || reference == AttitudeReference.TARGET_ORIENTATION || reference == AttitudeReference.RELATIVE_VELOCITY))
{
attitudeDeactivate();
return rotRef;
}
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return rotRef;
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.velocityVesselOrbitUnit, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.velocityVesselOrbitUnit), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.velocityVesselSurfaceUnit, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (core.target.Position - vessel.GetTransform().position).normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = core.target.RelativeVelocity.normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
Transform targetTransform = core.target.Transform;
if (core.target.Target is ModuleDockingNode)
{
rotRef = Quaternion.LookRotation(targetTransform.forward, targetTransform.up);
}
else
{
rotRef = Quaternion.LookRotation(targetTransform.up, targetTransform.right);
}
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
}
return rotRef;
}
public void Engage(bool resetPID = true)
{
Quaternion attitude = new Quaternion();
Vector3d direction = Vector3d.zero;
AttitudeReference reference = AttitudeReference.ORBIT;
switch (target)
{
case Target.OFF:
core.attitude.attitudeDeactivate();
return;
case Target.KILLROT:
core.attitude.attitudeKILLROT = true;
attitude = Quaternion.LookRotation(part.vessel.GetTransform().up, -part.vessel.GetTransform().forward);
reference = AttitudeReference.INERTIAL;
break;
case Target.NODE:
direction = Vector3d.forward;
reference = AttitudeReference.MANEUVER_NODE;
break;
case Target.SURFACE:
attitude = Quaternion.AngleAxis((float)srfHdg, Vector3.up)
* Quaternion.AngleAxis(-(float)srfPit, Vector3.right)
* Quaternion.AngleAxis(-(float)srfRol, Vector3.forward);
reference = AttitudeReference.SURFACE_NORTH;
break;
case Target.PROGRADE:
direction = Vector3d.forward;
reference = AttitudeReference.ORBIT;
break;
case Target.RETROGRADE:
direction = Vector3d.back;
reference = AttitudeReference.ORBIT;
break;
case Target.NORMAL_PLUS:
direction = Vector3d.left;
reference = AttitudeReference.ORBIT;
break;
case Target.NORMAL_MINUS:
direction = Vector3d.right;
reference = AttitudeReference.ORBIT;
break;
case Target.RADIAL_PLUS:
direction = Vector3d.up;
reference = AttitudeReference.ORBIT;
break;
case Target.RADIAL_MINUS:
direction = Vector3d.down;
reference = AttitudeReference.ORBIT;
break;
case Target.RELATIVE_PLUS:
direction = Vector3d.forward;
reference = AttitudeReference.RELATIVE_VELOCITY;
break;
case Target.RELATIVE_MINUS:
direction = Vector3d.back;
reference = AttitudeReference.RELATIVE_VELOCITY;
break;
case Target.TARGET_PLUS:
direction = Vector3d.forward;
reference = AttitudeReference.TARGET;
break;
case Target.TARGET_MINUS:
direction = Vector3d.back;
reference = AttitudeReference.TARGET;
break;
case Target.PARALLEL_PLUS:
direction = Vector3d.forward;
reference = AttitudeReference.TARGET_ORIENTATION;
break;
case Target.PARALLEL_MINUS:
direction = Vector3d.back;
reference = AttitudeReference.TARGET_ORIENTATION;
break;
case Target.ADVANCED:
direction = Vector6.directions[(int)advDirection];
reference = advReference;
break;
case Target.SURFACE_PROGRADE:
attitude = Quaternion.AngleAxis(-(float)srfVelRol, Vector3.forward) *
Quaternion.AngleAxis(-(float)srfVelPit, Vector3.right) *
Quaternion.AngleAxis((float)srfVelYaw, Vector3.up);
reference = AttitudeReference.SURFACE_VELOCITY;
break;
case Target.SURFACE_RETROGRADE:
attitude = Quaternion.AngleAxis((float)srfVelRol + 180, Vector3.forward) *
Quaternion.AngleAxis(-(float)srfVelPit + 180, Vector3.right) *
Quaternion.AngleAxis((float)srfVelYaw, Vector3.up);
reference = AttitudeReference.SURFACE_VELOCITY;
break;
case Target.HORIZONTAL_PLUS:
direction = Vector3d.forward;
reference = AttitudeReference.SURFACE_HORIZONTAL;
break;
case Target.HORIZONTAL_MINUS:
direction = Vector3d.back;
reference = AttitudeReference.SURFACE_HORIZONTAL;
break;
case Target.VERTICAL_PLUS:
direction = Vector3d.up;
reference = AttitudeReference.SURFACE_NORTH;
break;
default:
return;
}
if (forceRol && direction != Vector3d.zero)
{
attitude = Quaternion.LookRotation(direction, Vector3d.up) * Quaternion.AngleAxis(-(float)rol, Vector3d.forward);
direction = Vector3d.zero;
}
if (direction != Vector3d.zero)
{
core.attitude.attitudeTo(direction, reference, this);
}
else
{
core.attitude.attitudeTo(attitude, reference, this);
}
if (resetPID)
{
core.attitude.pid.Reset();
}
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btAuto = new GUIStyle(btNormal);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
// If any other module use the attitude controler then let them do it
if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
if (autoDisableSmartASS)
{
target = Target.OFF;
if (core.attitude.users.Contains(this)) core.attitude.users.Remove(this); // so we don't suddenly turn on when the other autopilot finishes
}
GUILayout.Button("AUTO", btAuto, GUILayout.ExpandWidth(true));
}
else
{
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
TargetButton(Target.OFF);
TargetButton(Target.KILLROT);
if (vessel.patchedConicsUnlocked())
{
TargetButton(Target.NODE);
}
else
{
GUILayout.Button("-", GUILayout.ExpandWidth(true), GUILayout.ExpandHeight(true));
}
GUILayout.EndHorizontal();
GUILayout.Label("Mode:");
GUILayout.BeginHorizontal();
ModeButton(Mode.ORBITAL);
ModeButton(Mode.SURFACE);
ModeButton(Mode.TARGET);
ModeButton(Mode.ADVANCED);
GUILayout.EndHorizontal();
switch (mode)
{
case Mode.ORBITAL:
GUILayout.BeginHorizontal();
TargetButton(Target.PROGRADE);
TargetButton(Target.NORMAL_PLUS);
TargetButton(Target.RADIAL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.RETROGRADE);
TargetButton(Target.NORMAL_MINUS);
TargetButton(Target.RADIAL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
break;
case Mode.SURFACE:
double val = (GameSettings.MODIFIER_KEY.GetKey() ? 5 : 1); // change by 5 if the mod_key is held down, else by 1
GUILayout.BeginHorizontal();
TargetButton(Target.SURFACE_PROGRADE);
TargetButton(Target.SURFACE_RETROGRADE);
TargetButtonNoEngage(Target.SURFACE);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.HORIZONTAL_PLUS);
TargetButton(Target.HORIZONTAL_MINUS);
TargetButton(Target.VERTICAL_PLUS);
GUILayout.EndHorizontal();
if (target == Target.SURFACE) {
bool changed = false;
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("HDG", srfHdg, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfHdg -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfHdg += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfHdg = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35))) {
srfHdg = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfPit += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfPit = 0;
changed = true;
}
if (GUILayout.Button("90", GUILayout.Width(35))) {
srfPit = 90;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfRol += val;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfRol = 0;
changed = true;
}
if (GUILayout.Button("180", GUILayout.Width(35))) {
srfRol = 180;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE")) {
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
} else if (target == Target.SURFACE_PROGRADE || target == Target.SURFACE_RETROGRADE)
{
bool changed = false;
GUILayout.BeginHorizontal();
forceRol = GUILayout.Toggle(forceRol, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("ROL", srfVelRol, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfVelRol -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfVelRol += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false))) {
srfVelRol = -vesselState.vesselRoll.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfVelRol = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forcePitch = GUILayout.Toggle(forcePitch, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("PIT", srfVelPit, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfVelPit -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfVelPit += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false))) {
srfVelPit = vesselState.AoA.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfVelPit = 0;
changed = true;
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
forceYaw = GUILayout.Toggle(forceYaw, "", GUILayout.ExpandWidth(false));
GuiUtils.SimpleTextBox("YAW", srfVelYaw, "°", 37);
if (GUILayout.Button("-", GUILayout.ExpandWidth(false))) {
srfVelYaw -= val;
changed = true;
}
if (GUILayout.Button("+", GUILayout.ExpandWidth(false))) {
srfVelYaw += val;
changed = true;
}
if (GUILayout.Button("CUR", GUILayout.ExpandWidth(false))) {
srfVelYaw = -vesselState.AoS.value;
changed = true;
}
if (GUILayout.Button("0", GUILayout.ExpandWidth(false))) {
srfVelYaw = 0;
changed = true;
}
GUILayout.EndHorizontal();
if (GUILayout.Button("EXECUTE"))
{
Engage();
}
if (changed)
{
Engage(false);
}
core.attitude.AxisControl(forcePitch, forceYaw, forceRol);
}
break;
case Mode.TARGET:
if (core.target.NormalTargetExists)
{
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_PLUS);
TargetButton(Target.RELATIVE_PLUS);
TargetButton(Target.PARALLEL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_MINUS);
TargetButton(Target.RELATIVE_MINUS);
TargetButton(Target.PARALLEL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
}
else
{
GUILayout.Label("Please select a target");
}
break;
case Mode.ADVANCED:
GUILayout.Label("Reference:");
advReference = (AttitudeReference)GuiUtils.ComboBox.Box((int)advReference, ReferenceTexts, this);
GUILayout.Label("Direction:");
advDirection = (Vector6.Direction)GuiUtils.ComboBox.Box((int)advDirection, directionTexts, directionTexts);
ForceRoll();
if (GUILayout.Button("EXECUTE", btNormal, GUILayout.ExpandWidth(true)))
{
target = Target.ADVANCED;
Engage();
}
break;
case Mode.AUTO:
break;
}
GUILayout.EndVertical();
}
base.WindowGUI(windowID);
}
public Vector3d attitudeWorldToReference(Vector3d vector, AttitudeReference reference)
{
return(Quaternion.Inverse(attitudeGetReferenceRotation(reference)) * vector);
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btAuto = new GUIStyle(btNormal);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
if (core.attitude.enabled && !core.attitude.users.Contains(this))
{
GUILayout.Button("AUTO", btAuto, GUILayout.ExpandWidth(true));
}
else
{
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
TargetButton(Target.OFF);
TargetButton(Target.KILLROT);
TargetButton(Target.NODE);
GUILayout.EndHorizontal();
GUILayout.Label("Mode:");
GUILayout.BeginHorizontal();
ModeButton(Mode.ORBITAL);
ModeButton(Mode.SURFACE);
ModeButton(Mode.TARGET);
ModeButton(Mode.ADVANCED);
GUILayout.EndHorizontal();
switch (mode)
{
case Mode.ORBITAL:
GUILayout.BeginHorizontal();
TargetButton(Target.PROGRADE);
TargetButton(Target.NORMAL_PLUS);
TargetButton(Target.RADIAL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.RETROGRADE);
TargetButton(Target.NORMAL_MINUS);
TargetButton(Target.RADIAL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
break;
case Mode.SURFACE:
GuiUtils.SimpleTextBox("HDG:", srfHdg);
GuiUtils.SimpleTextBox("PIT:", srfPit);
GuiUtils.SimpleTextBox("ROL:", srfRol);
if (GUILayout.Button("EXECUTE", GUILayout.ExpandWidth(true)))
{
target = Target.SURFACE;
Engage();
}
break;
case Mode.TARGET:
if (core.target.NormalTargetExists)
{
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_PLUS);
TargetButton(Target.RELATIVE_PLUS);
TargetButton(Target.PARALLEL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_MINUS);
TargetButton(Target.RELATIVE_MINUS);
TargetButton(Target.PARALLEL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
}
else
{
GUILayout.Label("Please select a target");
}
break;
case Mode.ADVANCED:
GUILayout.Label("Reference:");
advReference = (AttitudeReference)GuiUtils.ArrowSelector((int)advReference, Enum.GetValues(typeof(AttitudeReference)).Length, advReference.ToString());
GUILayout.Label("Direction:");
advDirection = (Vector6.Direction)GuiUtils.ArrowSelector((int)advDirection, Enum.GetValues(typeof(Vector6.Direction)).Length, advDirection.ToString());
if (GUILayout.Button("EXECUTE", btNormal, GUILayout.ExpandWidth(true)))
{
target = Target.ADVANCED;
Engage();
}
break;
case Mode.AUTO:
break;
}
GUILayout.EndVertical();
}
base.WindowGUI(windowID);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.velocityVesselOrbitUnit, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.velocityVesselOrbitUnit), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.velocityVesselSurfaceUnit, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (((targetType == TargetType.VESSEL) ? (Vector3d)targetVessel.transform.position : targetBody.position) - vesselState.CoM).normalized;
up = Vector3d.Cross(fwd, vesselState.leftOrbit);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = (vesselState.velocityVesselOrbit - ((targetType == TargetType.VESSEL) ? targetVessel.orbit.GetVel() : targetBody.orbit.GetVel())).normalized;
up = Vector3d.Cross(fwd, vesselState.leftOrbit);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
switch (targetType)
{
case TargetType.VESSEL:
rotRef = Quaternion.LookRotation(targetVessel.transform.up, targetVessel.transform.right);
break;
case TargetType.BODY:
rotRef = vesselState.rotationSurface;
break;
}
break;
}
return rotRef;
}
protected override void WindowGUI(int windowID)
{
if (btNormal == null)
{
btNormal = new GUIStyle(GUI.skin.button);
btNormal.normal.textColor = btNormal.focused.textColor = Color.white;
btNormal.hover.textColor = btNormal.active.textColor = Color.yellow;
btNormal.onNormal.textColor = btNormal.onFocused.textColor = btNormal.onHover.textColor = btNormal.onActive.textColor = Color.green;
btNormal.padding = new RectOffset(8, 8, 8, 8);
btActive = new GUIStyle(btNormal);
btActive.active = btActive.onActive;
btActive.normal = btActive.onNormal;
btActive.onFocused = btActive.focused;
btActive.hover = btActive.onHover;
btAuto = new GUIStyle(btNormal);
btAuto.normal.textColor = Color.red;
btAuto.onActive = btAuto.onFocused = btAuto.onHover = btAuto.onNormal = btAuto.active = btAuto.focused = btAuto.hover = btAuto.normal;
}
// If any other module use the attitude controler then let them do it
if (core.attitude.enabled && core.attitude.users.Count(u => !this.Equals(u)) > 0)
{
GUILayout.Button("AUTO", btAuto, GUILayout.ExpandWidth(true));
}
else
{
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
TargetButton(Target.OFF);
TargetButton(Target.KILLROT);
TargetButton(Target.NODE);
GUILayout.EndHorizontal();
GUILayout.Label("Mode:");
GUILayout.BeginHorizontal();
ModeButton(Mode.ORBITAL);
ModeButton(Mode.SURFACE);
ModeButton(Mode.TARGET);
ModeButton(Mode.ADVANCED);
GUILayout.EndHorizontal();
switch (mode)
{
case Mode.ORBITAL:
GUILayout.BeginHorizontal();
TargetButton(Target.PROGRADE);
TargetButton(Target.NORMAL_PLUS);
TargetButton(Target.RADIAL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.RETROGRADE);
TargetButton(Target.NORMAL_MINUS);
TargetButton(Target.RADIAL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
break;
case Mode.SURFACE:
GuiUtils.SimpleTextBox("HDG:", srfHdg);
GuiUtils.SimpleTextBox("PIT:", srfPit);
GuiUtils.SimpleTextBox("ROL:", srfRol);
if (GUILayout.Button("EXECUTE", GUILayout.ExpandWidth(true)))
{
target = Target.SURFACE;
Engage();
}
break;
case Mode.TARGET:
if (core.target.NormalTargetExists)
{
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_PLUS);
TargetButton(Target.RELATIVE_PLUS);
TargetButton(Target.PARALLEL_PLUS);
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
TargetButton(Target.TARGET_MINUS);
TargetButton(Target.RELATIVE_MINUS);
TargetButton(Target.PARALLEL_MINUS);
GUILayout.EndHorizontal();
ForceRoll();
}
else
{
GUILayout.Label("Please select a target");
}
break;
case Mode.ADVANCED:
GUILayout.Label("Reference:");
advReference = (AttitudeReference)GuiUtils.ArrowSelector((int)advReference, Enum.GetValues(typeof(AttitudeReference)).Length, advReference.ToString());
GUILayout.Label("Direction:");
advDirection = (Vector6.Direction)GuiUtils.ArrowSelector((int)advDirection, Enum.GetValues(typeof(Vector6.Direction)).Length, advDirection.ToString());
if (GUILayout.Button("EXECUTE", btNormal, GUILayout.ExpandWidth(true)))
{
target = Target.ADVANCED;
Engage();
}
break;
case Mode.AUTO:
break;
}
GUILayout.EndVertical();
}
base.WindowGUI(windowID);
}