private static double ComputeFacingFactor(Vessel transmitterVessel, IBeamedPowerReceiver receiver)
{
// return if no recieval is possible
if (receiver.HighSpeedAtmosphereFactor == 0 && !receiver.CanBeActiveInAtmosphere)
{
return(0);
}
return(ComputeFacingFactor(transmitterVessel.GetVesselPos(), receiver));
}
private static double ComputeFacingFactorSafe(Vector3d transmitPosition, IBeamedPowerReceiver receiver)
{
// return if no recieval is possible
if (receiver.HighSpeedAtmosphereFactor == 0 && !receiver.CanBeActiveInAtmosphere)
{
return(0);
}
return(ComputeFacingFactor(transmitPosition, receiver));
}
public override void OnStart(StartState state)
{
base.OnStart(state);
_configured = false;
_beamedPowerReceiver = part.FindModuleImplementing <IBeamedPowerReceiver>();
if (_beamedPowerReceiver == null)
{
Debug.Log("[KITVesselTracker] no IBeamedPowerReceiver");
return;
}
if (!_knowsHowToHandle.Contains(_beamedPowerReceiver.ReceiverType))
{
Debug.Log("[KITVesselTracker] do not know how to handle a ReceiverType of {_beamedPowerReceiver.ReceiverType}");
return;
}
_rotationAnimation = part.FindModulesImplementing <ModuleAnimateGeneric>().FirstOrDefault(mag => mag.animationName == rotationAnimationName);
_pivotAnimation = part.FindModulesImplementing <ModuleAnimateGeneric>().FirstOrDefault(mag => mag.animationName == pivotAnimationName);
if (_rotationAnimation == null || _pivotAnimation == null)
{
Debug.Log($"[KITVesselTracker] could not find an animation for {(_rotationAnimation == null ? "rotation" : "")} {(_pivotAnimation == null ? "pivot" : "")}");
return;
}
_rotationTransform = part.FindModelTransform(rotationAnimationName);
_pivotTransform = part.FindModelTransform(pivotAnimationName);
if (_rotationTransform == null || _pivotTransform == null)
{
Debug.Log("[KITVesselTracker] unable to find part transforms with animation names");
_rotationTransform = part.FindModelTransform("Model00_Base");
_pivotTransform = part.FindModelTransform("Model01_Platform");
Debug.Log("[KITVesselTracker] and now we've got {_rotationTransform} and {_pivotTransform}");
if (_rotationTransform == null || _pivotTransform == null)
{
return;
}
}
_configured = true;
Debug.Log("[KITVesselTracker] ready to track vessels");
trackerActive = false;
}
private static double ComputeFacingFactor(Vector3d transmitPosition, IBeamedPowerReceiver receiver)
{
double facingFactor;
Vector3d directionVector = (transmitPosition - receiver.Vessel.GetVesselPos()).normalized;
Transform receiverTransform = receiver.Part.transform;
switch (receiver.ReceiverType)
{
case 0:
//Scale energy reception based on angle of reciever to transmitter from top
facingFactor = Math.Max(0, Vector3d.Dot(receiverTransform.up, directionVector));
break;
case 1:
// recieve from sides
facingFactor = Math.Min(1 - Math.Abs(Vector3d.Dot(receiverTransform.up, directionVector)), 1);
break;
case 2:
// get the best result of inline and directed reciever
facingFactor = Math.Min(1 - Math.Abs(Vector3d.Dot(receiverTransform.up, directionVector)), 1);
break;
case 3:
//Scale energy reception based on angle of reciever to transmitter from back
facingFactor = Math.Max(0, -Vector3d.Dot(receiverTransform.forward, directionVector));
break;
case 4:
// used by single pivoting solar arrays
facingFactor = Math.Min(1 - Math.Abs(Vector3d.Dot(receiverTransform.right, directionVector)), 1);
break;
case 5:
//Scale energy reception based on angle of reciever to transmitter from bottom
facingFactor = Math.Max(0, -Vector3d.Dot(receiverTransform.up, directionVector));
break;
case 6:
facingFactor = Math.Min(1, Math.Abs(Vector3d.Dot(receiverTransform.forward, directionVector)));
break;
case 7:
//Scale energy reception based on angle of reciever to transmitter from top or bottom
facingFactor = Math.Max(0, Math.Abs(Vector3d.Dot(receiverTransform.up, directionVector)));
break;
case 8:
// used by single pivoting solar arrays
facingFactor = Math.Min(1 - Math.Abs(Vector3d.Dot(receiverTransform.forward, directionVector)), 1);
break;
default:
//Scale energy reception based on angle of reciever to transmitter from top
facingFactor = Math.Max(0, Vector3d.Dot(receiverTransform.up, directionVector));
break;
}
if (facingFactor > receiver.FacingThreshold)
{
facingFactor = Math.Pow(facingFactor, receiver.FacingSurfaceExponent);
}
else
{
facingFactor = 0;
}
if (receiver.ReceiverType == 2)
{
facingFactor = Math.Max(facingFactor, Math.Round(0.4999 + Math.Max(0, Vector3d.Dot(receiver.Part.transform.up, directionVector))));
}
return(receiver.CanBeActiveInAtmosphere ? facingFactor : receiver.HighSpeedAtmosphereFactor *facingFactor);
}
/// <summary>
/// Returns transmitters which this vessel can connect
/// </summary>
/// <param name="maxHops">Maximum number of relays which can be used for connection to transmitter</param>
public static IDictionary <VesselMicrowavePersistence, KeyValuePair <MicrowaveRoute, IList <VesselRelayPersistence> > > GetConnectedTransmitters(IBeamedPowerReceiver receiver, int maxHops = 25)
{
//these two dictionaries store transmitters and relays and best currently known route to them which is replaced if better one is found.
var transmitterRouteDictionary = new Dictionary <VesselMicrowavePersistence, MicrowaveRoute>(); // stores all transmitter we can have a connection with
var relayRouteDictionary = new Dictionary <VesselRelayPersistence, MicrowaveRoute>();
var transmittersToCheck = new List <VesselMicrowavePersistence>();//stores all transmiters to which we want to connect
var recieverAtmosphericPresure = FlightGlobals.getStaticPressure(receiver.Vessel.GetVesselPos()) / 101.325;
foreach (VesselMicrowavePersistence transmitter in BeamedPowerSources.instance.globalTransmitters.Values)
{
//ignore if no power or transmitter is on the same vessel
if (transmitter.Vessel == receiver.Vessel)
{
//Debug.Log("[KSPI] : Transmitter vessel is equal to receiver vessel");
continue;
}
//first check for direct connection from current vessel to transmitters, will always be optimal
if (!transmitter.HasPower)
{
//Debug.Log("[KSPI] : Transmitter vessel has no power available");
continue;
}
if (receiver.Vessel.HasLineOfSightWith(transmitter.Vessel))
{
double facingFactor = ComputeFacingFactor(transmitter.Vessel, receiver);
if (facingFactor <= 0)
{
continue;
}
var possibleWavelengths = new List <MicrowaveRoute>();
double distanceInMeter = ComputeDistance(receiver.Vessel, transmitter.Vessel);
double transmitterAtmosphericPresure = FlightGlobals.getStaticPressure(transmitter.Vessel.GetVesselPos()) / 101.325;
foreach (WaveLengthData wavelenghtData in transmitter.SupportedTransmitWavelengths)
{
if (wavelenghtData.wavelength.NotWithin(receiver.MaximumWavelength, receiver.MinimumWavelength))
{
continue;
}
var spotsize = ComputeSpotSize(wavelenghtData, distanceInMeter, transmitter.Aperture, receiver.ApertureMultiplier);
double distanceFacingEfficiency = ComputeDistanceFacingEfficiency(spotsize, facingFactor, receiver.Diameter, receiver.FacingEfficiencyExponent, receiver.SpotsizeNormalizationExponent);
double atmosphereEfficency = GetAtmosphericEfficiency(transmitterAtmosphericPresure, recieverAtmosphericPresure, wavelenghtData.atmosphericAbsorption, distanceInMeter, receiver.Vessel, transmitter.Vessel);
possibleWavelengths.Add(new MicrowaveRoute(distanceFacingEfficiency * atmosphereEfficency, distanceInMeter, facingFactor, spotsize, wavelenghtData));
}
var mostEfficientWavelength = possibleWavelengths.Count == 0 ? null : possibleWavelengths.FirstOrDefault(m => m.Efficiency == possibleWavelengths.Max(n => n.Efficiency));
if (mostEfficientWavelength != null)
{
//store in dictionary that optimal route to this transmitter is direct connection, can be replaced if better route is found
transmitterRouteDictionary[transmitter] = mostEfficientWavelength;
}
}
// add all tranmitters that are not located on the recieving vessel
transmittersToCheck.Add(transmitter);
}
//this algorithm processes relays in groups in which elements of the first group must be visible from receiver,
//elements from the second group must be visible by at least one element from previous group and so on...
var relaysToCheck = new List <VesselRelayPersistence>(); //relays which we have to check - all active relays will be here
var currentRelayGroup = new List <KeyValuePair <VesselRelayPersistence, int> >(); //relays which are in line of sight, and we have not yet checked what they can see. Their index in relaysToCheck is also stored
int relayIndex = 0;
foreach (VesselRelayPersistence relay in BeamedPowerSources.instance.globalRelays.Values)
{
if (!relay.IsActive)
{
continue;
}
if (receiver.Vessel.HasLineOfSightWith(relay.Vessel))
{
double facingFactor = ComputeFacingFactor(relay.Vessel, receiver);
if (facingFactor <= 0)
{
continue;
}
double distanceInMeter = ComputeDistance(receiver.Vessel, relay.Vessel);
double transmitterAtmosphericPresure = FlightGlobals.getStaticPressure(relay.Vessel.GetVesselPos()) / 101.325;
var possibleWavelengths = new List <MicrowaveRoute>();
foreach (var wavelenghtData in relay.SupportedTransmitWavelengths)
{
if (wavelenghtData.maxWavelength < receiver.MinimumWavelength || wavelenghtData.minWavelength > receiver.MaximumWavelength)
{
continue;
}
double spotsize = ComputeSpotSize(wavelenghtData, distanceInMeter, relay.Aperture);
double distanceFacingEfficiency = ComputeDistanceFacingEfficiency(spotsize, facingFactor, receiver.Diameter, receiver.FacingEfficiencyExponent, receiver.SpotsizeNormalizationExponent);
double atmosphereEfficency = GetAtmosphericEfficiency(transmitterAtmosphericPresure, recieverAtmosphericPresure, wavelenghtData.atmosphericAbsorption, distanceInMeter, receiver.Vessel, relay.Vessel);
possibleWavelengths.Add(new MicrowaveRoute(distanceFacingEfficiency * atmosphereEfficency, distanceInMeter, facingFactor, spotsize, wavelenghtData));
}
var mostEfficientWavelength = possibleWavelengths.Count == 0 ? null : possibleWavelengths.FirstOrDefault(m => m.Efficiency == possibleWavelengths.Max(n => n.Efficiency));
if (mostEfficientWavelength != null)
{
//store in dictionary that optimal route to this relay is direct connection, can be replaced if better route is found
relayRouteDictionary[relay] = mostEfficientWavelength;
currentRelayGroup.Add(new KeyValuePair <VesselRelayPersistence, int>(relay, relayIndex));
}
}
relaysToCheck.Add(relay);
relayIndex++;
}
int hops = 0; //number of hops between relays
//pre-compute distances and visibility thus limiting number of checks to (Nr^2)/2 + NrNt +Nr + Nt
if (hops < maxHops && transmittersToCheck.Any())
{
double[,] relayToRelayDistances = new double[relaysToCheck.Count, relaysToCheck.Count];
double[,] relayToTransmitterDistances = new double[relaysToCheck.Count, transmittersToCheck.Count];
for (int i = 0; i < relaysToCheck.Count; i++)
{
var relayToCheck = relaysToCheck[i];
for (int j = i + 1; j < relaysToCheck.Count; j++)
{
double visibilityAndDistance = ComputeVisibilityAndDistance(relayToCheck, relaysToCheck[j].Vessel);
relayToRelayDistances[i, j] = visibilityAndDistance;
relayToRelayDistances[j, i] = visibilityAndDistance;
}
for (int t = 0; t < transmittersToCheck.Count; t++)
{
relayToTransmitterDistances[i, t] = ComputeVisibilityAndDistance(relayToCheck, transmittersToCheck[t].Vessel);
}
}
HashSet <int> coveredRelays = new HashSet <int>();
//runs as long as there is any relay to which we can connect and maximum number of hops have not been breached
while (hops < maxHops && currentRelayGroup.Any())
{
var nextRelayGroup = new List <KeyValuePair <VesselRelayPersistence, int> >(); //will put every relay which is in line of sight of any relay from currentRelayGroup here
foreach (var relayEntry in currentRelayGroup) //relays visible from receiver in first iteration, then relays visible from them etc....
{
VesselRelayPersistence relayPersistance = relayEntry.Key;
MicrowaveRoute relayRoute = relayRouteDictionary[relayPersistance]; // current best route for this relay
double relayRouteFacingFactor = relayRoute.FacingFactor; // it's always facing factor from the beggining of the route
double relayAtmosphericPresure = FlightGlobals.getStaticPressure(relayPersistance.Vessel.GetVesselPos()) / 101.325;
for (int t = 0; t < transmittersToCheck.Count; t++)//check if this relay can connect to transmitters
{
double distanceInMeter = relayToTransmitterDistances[relayEntry.Value, t];
//it's >0 if it can see
if (distanceInMeter <= 0)
{
continue;
}
VesselMicrowavePersistence transmitterToCheck = transmittersToCheck[t];
double newDistance = relayRoute.Distance + distanceInMeter;// total distance from receiver by this relay to transmitter
double transmitterAtmosphericPresure = FlightGlobals.getStaticPressure(transmitterToCheck.Vessel.GetVesselPos()) / 101.325;
var possibleWavelengths = new List <MicrowaveRoute>();
foreach (var transmitterWavelenghtData in transmitterToCheck.SupportedTransmitWavelengths)
{
if (transmitterWavelenghtData.wavelength.NotWithin(relayPersistance.MaximumRelayWavelenght, relayPersistance.MinimumRelayWavelenght))
{
continue;
}
double spotsize = ComputeSpotSize(transmitterWavelenghtData, distanceInMeter, transmitterToCheck.Aperture);
double distanceFacingEfficiency = ComputeDistanceFacingEfficiency(spotsize, 1, relayPersistance.Aperture);
double atmosphereEfficency = GetAtmosphericEfficiency(transmitterAtmosphericPresure, relayAtmosphericPresure, transmitterWavelenghtData.atmosphericAbsorption, distanceInMeter, transmitterToCheck.Vessel, relayPersistance.Vessel);
double efficiencyTransmitterToRelay = distanceFacingEfficiency * atmosphereEfficency;
double efficiencyForRoute = efficiencyTransmitterToRelay * relayRoute.Efficiency;
possibleWavelengths.Add(new MicrowaveRoute(efficiencyForRoute, newDistance, relayRouteFacingFactor, spotsize, transmitterWavelenghtData, relayPersistance));
}
var mostEfficientWavelength = possibleWavelengths.Count == 0 ? null : possibleWavelengths.FirstOrDefault(m => m.Efficiency == possibleWavelengths.Max(n => n.Efficiency));
if (mostEfficientWavelength == null)
{
continue;
}
//this will return true if there is already a route to this transmitter
MicrowaveRoute currentOptimalRoute;
if (transmitterRouteDictionary.TryGetValue(transmitterToCheck, out currentOptimalRoute))
{
if (currentOptimalRoute.Efficiency < mostEfficientWavelength.Efficiency)
{
//if route using this relay is better then replace the old route
transmitterRouteDictionary[transmitterToCheck] = mostEfficientWavelength;
}
}
else
{
//there is no other route to this transmitter yet known so algorithm puts this one as optimal
transmitterRouteDictionary[transmitterToCheck] = mostEfficientWavelength;
}
}
for (var r = 0; r < relaysToCheck.Count; r++)
{
VesselRelayPersistence nextRelay = relaysToCheck[r];
if (nextRelay == relayPersistance)
{
continue;
}
double distanceToNextRelay = relayToRelayDistances[relayEntry.Value, r];
if (distanceToNextRelay <= 0)
{
continue;
}
var possibleWavelengths = new List <MicrowaveRoute>();
double relayToNextRelayDistance = relayRoute.Distance + distanceToNextRelay;
foreach (var transmitterWavelenghtData in relayPersistance.SupportedTransmitWavelengths)
{
if (transmitterWavelenghtData.maxWavelength < relayPersistance.MaximumRelayWavelenght || transmitterWavelenghtData.minWavelength > relayPersistance.MinimumRelayWavelenght)
{
continue;
}
double spotsize = ComputeSpotSize(transmitterWavelenghtData, distanceToNextRelay, relayPersistance.Aperture);
double efficiencyByThisRelay = ComputeDistanceFacingEfficiency(spotsize, 1, relayPersistance.Aperture);
double efficiencyForRoute = efficiencyByThisRelay * relayRoute.Efficiency;
possibleWavelengths.Add(new MicrowaveRoute(efficiencyForRoute, relayToNextRelayDistance, relayRouteFacingFactor, spotsize, transmitterWavelenghtData, relayPersistance));
}
MicrowaveRoute mostEfficientWavelength = possibleWavelengths.Count == 0 ? null : possibleWavelengths.FirstOrDefault(m => m.Efficiency == possibleWavelengths.Max(n => n.Efficiency));
if (mostEfficientWavelength != null)
{
MicrowaveRoute currentOptimalPredecessor;
if (relayRouteDictionary.TryGetValue(nextRelay, out currentOptimalPredecessor))
//this will return true if there is already a route to next relay
{
//if route using this relay is better
if (currentOptimalPredecessor.Efficiency < mostEfficientWavelength.Efficiency)
{
//we put it in dictionary as optimal
relayRouteDictionary[nextRelay] = mostEfficientWavelength;
}
}
else //there is no other route to this relay yet known so we put this one as optimal
{
relayRouteDictionary[nextRelay] = mostEfficientWavelength;
}
if (!coveredRelays.Contains(r))
{
nextRelayGroup.Add(new KeyValuePair <VesselRelayPersistence, int>(nextRelay, r));
//in next iteration we will check what next relay can see
coveredRelays.Add(r);
}
}
}
}
currentRelayGroup = nextRelayGroup;
//we don't have to check old relays so we just replace whole List
hops++;
}
}
//building final result
var resultDictionary = new Dictionary <VesselMicrowavePersistence, KeyValuePair <MicrowaveRoute, IList <VesselRelayPersistence> > >();
foreach (var transmitterEntry in transmitterRouteDictionary)
{
VesselMicrowavePersistence vesselPersistance = transmitterEntry.Key;
MicrowaveRoute microwaveRoute = transmitterEntry.Value;
var relays = new Stack <VesselRelayPersistence>();//Last in, first out so relay visible from receiver will always be first
VesselRelayPersistence relay = microwaveRoute.PreviousRelay;
while (relay != null)
{
relays.Push(relay);
relay = relayRouteDictionary[relay].PreviousRelay;
}
resultDictionary.Add(vesselPersistance, new KeyValuePair <MicrowaveRoute, IList <VesselRelayPersistence> >(microwaveRoute, relays.ToList()));
}
return(resultDictionary);
}
