private void RenderSyncUI(GUIStyle sty, GUIStyle but)
{
if (!CheckVessel())
{
_flyByWire = false;
Mode = UIMode.SELECTED;
}
if (GUILayout.Button("Sync Orbits", but, GUILayout.ExpandWidth(true)))
{
Mode = UIMode.SELECTED;
_flyByWire = false;
}
GUILayout.EndVertical();
GUILayout.BeginHorizontal();
for (int i = 0; i < NumberOfPredictedSyncPoints; i++)
{
if (i != (int)SyncMode)
{
continue;
}
if (GUILayout.Button(SyncMode.ToString(), but, GUILayout.ExpandWidth(true)))
{
if (i == NumberOfPredictedSyncPoints - 1)
{
SyncMode = 0;
}
else
{
SyncMode = SyncMode + 1;
}
}
//GUILayout.Box(SyncMode.ToString(),but);
}
GUILayout.EndHorizontal();
GUILayout.BeginVertical();
GUILayout.Box("Orbit ShipToR TgtToR ", GUILayout.ExpandWidth(true));
for (int i = 0; i < 4; i++)
{
GUILayout.Box(_syncString[i]);
}
GUILayout.Label("Closest Approach on Orbit " + _closestApproachOrbit.ToString(), sty);
GUILayout.Label("Min Separation (sec) : " + _minimumPredictedTimeFromTarget.ToString("f1"), sty);
if (automation == true)
{
if (GUILayout.Button(_autoPhaser ? _autoPhaserState.ToString() : "Auto Sync", but, GUILayout.ExpandWidth(true)))
{
_autoPhaser = !_autoPhaser;
_autoPhaserState = AutoPhaserState.Step1WaitForTargetApsis;
}
}
}
private void RenderSyncUI(GUIStyle sty)
{
if (!CheckVessel())
{
_flyByWire = false;
Mode = UIMode.SELECTED;
}
if (GUILayout.Button("Sync Orbits", sty, GUILayout.ExpandWidth(true)))
{
Mode = UIMode.SELECTED;
_flyByWire = false;
}
GUILayout.EndVertical();
GUILayout.BeginHorizontal();
for (int i = 0; i < NumberOfPredictedSyncPoints; i++)
{
if (i != (int) SyncMode)
continue;
if (GUILayout.Button(" ", sty, GUILayout.ExpandWidth(true)))
{
if (i == NumberOfPredictedSyncPoints - 1) SyncMode = 0;
else SyncMode = SyncMode + 1;
}
GUILayout.Box(SyncMode.ToString());
}
GUILayout.EndHorizontal();
GUILayout.BeginVertical();
GUILayout.Box("Orbit ShipToR TgtToR ", sty, GUILayout.ExpandWidth(true));
for (int i = 0; i < 4; i++)
GUILayout.Box(_syncString[i]);
GUILayout.Box("Closest Approach on Orbit " + _closestApproachOrbit.ToString());
GUILayout.Box("Min Separation (sec) : " + _minimumPredictedTimeFromTarget.ToString("f1"));
if(GUILayout.Button(_autoPhaser ? _autoPhaserState.ToString() : "Auto Sync", sty, GUILayout.ExpandWidth(true)))
{
_autoPhaser = !_autoPhaser;
_autoPhaserState = AutoPhaserState.Step1WaitForTargetApsis;
}
}
private void DriveShip(FlightCtrlState controls)
{
if(!CheckVessel())
return;
Vessel selectedVessel = FlightGlobals.Vessels[_selectedVesselIndex] as Vessel;
if(_autoAlign)
{
// Is it time to burn? Find soonest node.
double timeToBurnAN = vessel.orbit.GetTimeToRelAN(selectedVessel.orbit);
double timeToBurnDN = vessel.orbit.GetTimeToRelDN(selectedVessel.orbit);
bool ascendingSoonest = timeToBurnAN < timeToBurnDN;
double timeToBurnNode = ascendingSoonest ? timeToBurnAN : timeToBurnDN;
// Figure out which way we want to burn to adjust our inclination.
_flyByWire = true;
if(!_autoAlignBurnTriggered)
{
if (_relativeInclination < 0.0)
PointAt = ascendingSoonest ? Orient.Normal : Orient.AntiNormal;
else
PointAt = ascendingSoonest ? Orient.AntiNormal : Orient.Normal;
}
// Do a burn just ahead of the ascending node - in the 5 seconds preceding.
if ((timeToBurnNode < 10.0 || _autoAlignBurnTriggered) && _headingError.magnitude < 5.0 && Math.Abs(_relativeInclination) > 0.01)
{
_autoAlignBurnTriggered = true;
if (Math.Abs(_relativeInclination) > 0.1)
{
controls.mainThrottle = 1.0f;
}
else
{
controls.mainThrottle = 0.25f;
}
}
else
{
controls.mainThrottle = 0.0f;
}
if (Math.Abs(_relativeInclination) < 0.02)
{
_autoAlignBurnTriggered = false;
_autoAlign = false;
}
}
if (_autoPhaser)
{
switch(_autoPhaserState)
{
case AutoPhaserState.Step1WaitForTargetApsis:
double timeLeft = CalculateTimeTillNextTargetApsis();
// Set the PointAt based on who is faster at that point in time.
_flyByWire = true;
if (vessel.orbit.getOrbitalVelocityAt(timeLeft) > selectedVessel.orbit.getOrbitalVelocityAt(timeLeft))
PointAt = Orient.Retrograde;
else
PointAt = Orient.Prograde;
// Advance if it's time.
if (timeLeft < 5.0)
{
_autoPhaserState = AutoPhaserState.Step2BurnToMatchNextApsis;
_autoPhaserVelocityGoal = selectedVessel.orbit.getOrbitalVelocityAt(CalculateTimeTillFurtherTargetApsis());
_autoPhaseBurnComplete = false;
}
break;
case AutoPhaserState.Step2BurnToMatchNextApsis:
double predictedVelocity = vessel.orbit.getOrbitalVelocityAt(CalculateTimeTillFurtherTargetApsis());
if (_headingError.magnitude < 5.0 && !_autoPhaseBurnComplete)
{
controls.mainThrottle = 1;
}
else
{
controls.mainThrottle = 0;
}
// Advance to next state if we hit our goal.
if (Math.Abs(predictedVelocity - _autoPhaserVelocityGoal) < 10)
{
_autoPhaseBurnComplete = true;
controls.mainThrottle = 0;
}
// Wait till we pass the apsis so we don't double advance.
if (_autoPhaseBurnComplete && CalculateTimeTillNextTargetApsis() > 10.0)
_autoPhaserState = AutoPhaserState.Step3WaitForTargetApsis;
break;
case AutoPhaserState.Step3WaitForTargetApsis:
timeLeft = CalculateTimeTillNextTargetApsis();
// Set the PointAt based on who is faster at that point in time.
_flyByWire = true;
PointAt = Orient.Prograde;
// Advance if it's time.
if (timeLeft < 5.0)
{
_autoPhaserState = AutoPhaserState.Step4BurnToRendezvous;
}
break;
case AutoPhaserState.Step4BurnToRendezvous:
// TODO: Make sure we are only considering the apsis that
// is spatially similar to ours, otherwise we get in sync
// orbitally but go into step 5 super far away.
double timeToRendezvous = 0.0, minDeltaT = 0.0;
CalculateNearestRendezvousInSeconds(out timeToRendezvous, out minDeltaT);
if (minDeltaT > 5)
controls.mainThrottle = 0.25f;
else
{
controls.mainThrottle = 0.0f;
_autoPhaserState = AutoPhaserState.Step5WaitForRendezvous;
}
break;
case AutoPhaserState.Step5WaitForRendezvous:
timeToRendezvous = 0.0;
minDeltaT = 0.0;
CalculateNearestRendezvousInSeconds(out timeToRendezvous, out minDeltaT);
if(timeToRendezvous < 2)
_autoPhaserState = AutoPhaserState.Step6BurnToMatchVelocity;
break;
case AutoPhaserState.Step6BurnToMatchVelocity:
if(_relativeVelocity.magnitude > 5)
{
_flyByWire = true;
PointAt = Orient.RelativeVelocityAway;
if(_headingError.magnitude < 5)
{
if (_relativeVelocity.magnitude > 15)
controls.mainThrottle = 1.0f;
else
controls.mainThrottle = 0.2f;
}
}
else
{
// All done!
controls.mainThrottle = 0.0f;
_autoPhaser = false;
}
break;
}
}
if(_killRelativeVelocity)
{
controls.X = Mathf.Clamp(-_localRelativeVelocity.x * 8.0f, -1.0f, 1.0f);
controls.Y = Mathf.Clamp(-_localRelativeVelocity.z * 8.0f, -1.0f, 1.0f);
controls.Z = Mathf.Clamp(-_localRelativeVelocity.y * 8.0f, -1.0f, 1.0f);
if (_localRelativeVelocity.magnitude < 0.1)
_killRelativeVelocity = false;
}
else if (_homeOnRelativePosition)
{
Vector3 targetGoalPos = new Vector3(0.0f, 2.0f, 0.0f);
targetGoalPos = selectedVessel.transform.localToWorldMatrix.MultiplyPoint(targetGoalPos);
targetGoalPos = vessel.transform.worldToLocalMatrix.MultiplyPoint(targetGoalPos);
Vector3 relPos = targetGoalPos;
Vector4 goalVel = Vector3.zero;
float velGoal = 0.1f;
if (_targetDistance > 2.0f)
velGoal = 0.3f;
else if (_targetDistance > 10.0f)
velGoal = 0.5f;
else if (_targetDistance > 50.0f)
velGoal = 1.0f;
else if (_targetDistance > 150.0f)
velGoal = 3.0f;
if(Mathf.Abs(relPos.x) > 0.01f)
goalVel.x = -Mathf.Sign(relPos.x) * velGoal;
if (Mathf.Abs(relPos.y) > 0.01f)
goalVel.y = -Mathf.Sign(relPos.y) * velGoal;
if (Mathf.Abs(relPos.z) > 0.01f)
goalVel.z = -Mathf.Sign(relPos.z) * velGoal;
controls.X = Mathf.Clamp((goalVel.x - _localRelativeVelocity.x) * 8.0f, -1, 1);
controls.Y = Mathf.Clamp((goalVel.z - _localRelativeVelocity.z) * 8.0f, -1, 1);
controls.Z = Mathf.Clamp((goalVel.y - _localRelativeVelocity.y) * 8.0f, -1, 1);
}
if (!_flyByWire)
return;
Quaternion tgt = Quaternion.LookRotation(_tgtFwd, _tgtUp);
Quaternion delta =
Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(vessel.transform.rotation) * tgt);
_headingError =
new Vector3((delta.eulerAngles.x > 180) ? (delta.eulerAngles.x - 360.0F) : delta.eulerAngles.x,
(delta.eulerAngles.y > 180) ? (delta.eulerAngles.y - 360.0F) : delta.eulerAngles.y,
(delta.eulerAngles.z > 180) ? (delta.eulerAngles.z - 360.0F) : delta.eulerAngles.z) / 180.0F;
_integral += _headingError * TimeWarp.fixedDeltaTime;
_deriv = (_headingError - _prevErr) / TimeWarp.fixedDeltaTime;
_act = Kp * _headingError + Ki * _integral + Kd * _deriv;
_prevErr = _headingError;
controls.pitch = Mathf.Clamp(controls.pitch + _act.x, -1.0F, 1.0F);
controls.yaw = Mathf.Clamp(controls.yaw - _act.y, -1.0F, 1.0F);
controls.roll = Mathf.Clamp(controls.roll + _act.z, -1.0F, 1.0F);
}
private void DriveShip(FlightCtrlState controls)
{
if (!CheckVessel())
{
return;
}
Vessel selectedVessel = FlightGlobals.Vessels[_selectedVesselIndex] as Vessel;
if (_autoAlign)
{
// Is it time to burn? Find soonest node.
double timeToBurnAN = part.vessel.orbit.GetTimeToRelAN(selectedVessel.orbit);
double timeToBurnDN = part.vessel.orbit.GetTimeToRelDN(selectedVessel.orbit);
bool ascendingSoonest = timeToBurnAN < timeToBurnDN;
double timeToBurnNode = ascendingSoonest ? timeToBurnAN : timeToBurnDN;
if (timeToBurnNode > 30)
{
core.warpTo(this, timeToBurnNode - 30, warpLookaheadTimes);
}
// Figure out which way we want to burn to adjust our inclination.
_flyByWire = true;
if (!_autoAlignBurnTriggered)
{
if (_relativeInclination < 0.0)
{
PointAt = ascendingSoonest ? Orient.Normal : Orient.AntiNormal;
}
else
{
PointAt = ascendingSoonest ? Orient.AntiNormal : Orient.Normal;
}
}
// Do a burn just ahead of the ascending node - in the 5 seconds preceding.
if ((timeToBurnNode < 10.0 || _autoAlignBurnTriggered) && _headingError.magnitude < 5.0 && Math.Abs(_relativeInclination) > 0.01)
{
_autoAlignBurnTriggered = true;
if (Math.Abs(_relativeInclination) > 0.1)
{
controls.mainThrottle = 1.0f;
}
else
{
controls.mainThrottle = 0.25f;
}
}
else
{
controls.mainThrottle = 0.0f;
}
if (Math.Abs(_relativeInclination) < 0.02)
{
_autoAlignBurnTriggered = false;
_autoAlign = false;
}
}
if (_autoPhaser)
{
switch (_autoPhaserState)
{
case AutoPhaserState.Step1WaitForTargetApsis:
double timeLeft = CalculateTimeTillNextTargetApsis();
// Set the PointAt based on who is faster at that point in time.
_flyByWire = true;
if (part.vessel.orbit.getOrbitalSpeedAt(timeLeft) > selectedVessel.orbit.getOrbitalSpeedAt(timeLeft))
{
PointAt = Orient.Retrograde;
}
else
{
PointAt = Orient.Prograde;
}
// Advance if it's time.
if (timeLeft < 5.0)
{
_autoPhaserState = AutoPhaserState.Step2BurnToMatchNextApsis;
_autoPhaserVelocityGoal = selectedVessel.orbit.getOrbitalSpeedAt(CalculateTimeTillFurtherTargetApsis());
_autoPhaseBurnComplete = false;
}
break;
case AutoPhaserState.Step2BurnToMatchNextApsis:
double predictedVelocity = part.vessel.orbit.getOrbitalSpeedAt(CalculateTimeTillFurtherTargetApsis());
if (_headingError.magnitude < 5.0 && !_autoPhaseBurnComplete)
{
controls.mainThrottle = 1;
}
else
{
controls.mainThrottle = 0;
}
// Advance to next state if we hit our goal.
if (Math.Abs(predictedVelocity - _autoPhaserVelocityGoal) < 10)
{
_autoPhaseBurnComplete = true;
controls.mainThrottle = 0;
}
// Wait till we pass the apsis so we don't double advance.
if (_autoPhaseBurnComplete && CalculateTimeTillNextTargetApsis() > 10.0)
{
_autoPhaserState = AutoPhaserState.Step3WaitForTargetApsis;
}
break;
case AutoPhaserState.Step3WaitForTargetApsis:
timeLeft = CalculateTimeTillNextTargetApsis();
// Set the PointAt based on who is faster at that point in time.
_flyByWire = true;
PointAt = Orient.Prograde;
// Advance if it's time.
if (timeLeft < 5.0)
{
_autoPhaserState = AutoPhaserState.Step4BurnToRendezvous;
}
break;
case AutoPhaserState.Step4BurnToRendezvous:
// TODO: Make sure we are only considering the apsis that
// is spatially similar to ours, otherwise we get in sync
// orbitally but go into step 5 super far away.
double timeToRendezvous = 0.0, minDeltaT = 0.0;
CalculateNearestRendezvousInSeconds(out timeToRendezvous, out minDeltaT);
if (minDeltaT > 5)
{
controls.mainThrottle = 0.25f;
}
else
{
controls.mainThrottle = 0.0f;
_autoPhaserState = AutoPhaserState.Step5WaitForRendezvous;
}
break;
case AutoPhaserState.Step5WaitForRendezvous:
timeToRendezvous = 0.0;
minDeltaT = 0.0;
CalculateNearestRendezvousInSeconds(out timeToRendezvous, out minDeltaT);
if (timeToRendezvous < 2)
{
_autoPhaserState = AutoPhaserState.Step6BurnToMatchVelocity;
}
break;
case AutoPhaserState.Step6BurnToMatchVelocity:
if (_relativeVelocity.magnitude > 5)
{
_flyByWire = true;
PointAt = Orient.RelativeVelocityAway;
if (_headingError.magnitude < 5)
{
if (_relativeVelocity.magnitude > 15)
{
controls.mainThrottle = 1.0f;
}
else
{
controls.mainThrottle = 0.2f;
}
}
}
else
{
// All done!
controls.mainThrottle = 0.0f;
_autoPhaser = false;
}
break;
}
}
if (_killRelativeVelocity)
{
controls.X = Mathf.Clamp(-_localRelativeVelocity.x * 8.0f, -1.0f, 1.0f);
controls.Y = Mathf.Clamp(-_localRelativeVelocity.z * 8.0f, -1.0f, 1.0f);
controls.Z = Mathf.Clamp(-_localRelativeVelocity.y * 8.0f, -1.0f, 1.0f);
if (_localRelativeVelocity.magnitude < 0.1)
{
_killRelativeVelocity = false;
}
}
else if (_homeOnRelativePosition)
{
Vector3 targetGoalPos = new Vector3(0.0f, 2.0f, 0.0f);
targetGoalPos = selectedVessel.transform.localToWorldMatrix.MultiplyPoint(targetGoalPos);
targetGoalPos = part.vessel.transform.worldToLocalMatrix.MultiplyPoint(targetGoalPos);
Vector3 relPos = targetGoalPos;
Vector4 goalVel = Vector3.zero;
float velGoal = 0.1f;
if (_targetDistance > 2.0f)
{
velGoal = 0.3f;
}
else if (_targetDistance > 10.0f)
{
velGoal = 0.5f;
}
else if (_targetDistance > 50.0f)
{
velGoal = 1.0f;
}
else if (_targetDistance > 150.0f)
{
velGoal = 3.0f;
}
if (Mathf.Abs(relPos.x) > 0.01f)
{
goalVel.x = -Mathf.Sign(relPos.x) * velGoal;
}
if (Mathf.Abs(relPos.y) > 0.01f)
{
goalVel.y = -Mathf.Sign(relPos.y) * velGoal;
}
if (Mathf.Abs(relPos.z) > 0.01f)
{
goalVel.z = -Mathf.Sign(relPos.z) * velGoal;
}
controls.X = Mathf.Clamp((goalVel.x - _localRelativeVelocity.x) * 8.0f, -1, 1);
controls.Y = Mathf.Clamp((goalVel.z - _localRelativeVelocity.z) * 8.0f, -1, 1);
controls.Z = Mathf.Clamp((goalVel.y - _localRelativeVelocity.y) * 8.0f, -1, 1);
}
if (!_flyByWire)
{
return;
}
Quaternion tgt = Quaternion.LookRotation(_tgtFwd, _tgtUp);
Quaternion delta =
Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(part.vessel.transform.rotation) * tgt);
_headingError =
new Vector3((delta.eulerAngles.x > 180) ? (delta.eulerAngles.x - 360.0F) : delta.eulerAngles.x,
(delta.eulerAngles.y > 180) ? (delta.eulerAngles.y - 360.0F) : delta.eulerAngles.y,
(delta.eulerAngles.z > 180) ? (delta.eulerAngles.z - 360.0F) : delta.eulerAngles.z) / 180.0F;
_integral += _headingError * TimeWarp.fixedDeltaTime;
_deriv = (_headingError - _prevErr) / TimeWarp.fixedDeltaTime;
_act = Kp * _headingError + Ki * _integral + Kd * _deriv;
_prevErr = _headingError;
controls.pitch = Mathf.Clamp(controls.pitch + _act.x, -1.0F, 1.0F);
controls.yaw = Mathf.Clamp(controls.yaw - _act.y, -1.0F, 1.0F);
controls.roll = Mathf.Clamp(controls.roll + _act.z, -1.0F, 1.0F);
}
