public void StabelizeUpwards(Vector3D groundUpVector)
{
Vector3D velocity = rc.GetShipVelocities().LinearVelocity;
velocity.Normalize();
Vector3D upVector = groundUpVector;
Vector3D forwardVector = VectorUtils.ProjectOnPlanePerpendiculair(rc.WorldMatrix.Left, rc.WorldMatrix.Forward, velocity);
if (groundUpVector == Vector3D.Zero)
{
upVector = Vector3D.Normalize(-rc.GetNaturalGravity());
}
upVector += pitchUpBias * rc.WorldMatrix.Backward;
var refLeft = rc.WorldMatrix.Left;
var refUp = rc.WorldMatrix.Backward;
var refForward = rc.WorldMatrix.Up;
double dotUp = 1 - Vector3D.Dot(upVector, refForward);
double multiplier = MyMath.Clamp((float)(dotUp * 2 * dotUp), 1, 10);
MatrixD rotationMatrix = MatrixD.CreateFromDir(refForward, refUp);
Vector3D moveindicatorUP = VectorUtils.Project(VectorUtils.TransformDirLocalToWorld(rc.WorldMatrix, rc.MoveIndicator), rc.WorldMatrix.Right);
forwardVector += moveindicatorUP * userInputMultiplier;
GyroUtils.PointInDirection(gyros, rotationMatrix, upVector, -forwardVector, multiplier * upwardStabelizationMultiplier);
}
public void Main()
{
if (accelerateTarget == null || accelerateTarget == Vector3D.Zero || accelerateTarget == Vector3D.PositiveInfinity || PID_Controller == null || !accelerateTarget.IsValid())
{
return;
}
Vector3D accelerateTargetNormalized = accelerateTarget;
double accelerateTargetLength = accelerateTargetNormalized.Normalize();
double error = Vector3D.Dot(control.WorldMatrix.Forward, accelerateTarget) + accelerateTargetLength;
double multiplier = Math.Abs(PID_Controller.NextValue(error, 0.016));
if (accelerateTargetLength < negligible)
{
accelerateTargetNormalized = Vector3D.Normalize(control.GetShipVelocities().LinearVelocity);
}
GyroUtils.PointInDirection(gyros, control, accelerateTargetNormalized, multiplier);
//ThrustUtils.SetThrustBasedDot(thrusters, accelerateTargetNormalized, multiplier);
autopilotModule.ThrustToVelocity(control.GetShipVelocities().LinearVelocity + accelerateTarget);
if (accelerateInDirection && control.GetShipSpeed() >= (speedLimit - 0.01))
{
accelerateTarget = Vector3D.Zero;
BoostForward(0);
accelerateInDirection = false;
}
}
public void Update()
{
if (!_targetUpdated)
{
_target = InterpolateTarget();
}
Vector3D aimVector = Navigate(_target);
GyroUtils.PointInDirection(_gyros, _gyros[0].WorldMatrix, aimVector);
aimVector.Normalize();
ThrustUtils.SetThrustBasedDot(_thrusters, aimVector);
UpdatePayload();
}
public void PointInDirection(List <IMyGyro> gyros, MatrixD reference, Vector3D direction)
{
double yaw, pitch, roll;
GyroUtils.DirectionToPitchYaw(reference, direction, out yaw, out pitch, out roll);
double timeSinceLast = (ingameTime.Time - lastTime).TotalSeconds;
lastTime = ingameTime.Time;
yaw = pitchPid.NextValue(yaw, timeSinceLast);
pitch = pitchPid.NextValue(pitch, timeSinceLast);
roll = pitchPid.NextValue(roll, timeSinceLast);
GyroUtils.ApplyGyroOverride(gyros, reference, pitch, yaw, roll, onlyUpdateOne);
}
private void Rotate()
{
GyroUtils.PointInDirection(gyros, cockpit, target, 5);
}
public void AimMissile(Vector3D targetDir)
{
GyroUtils.PointInDirection(gyros, control, targetDir, 1, true);
}
