public override void Update()
{
//engines
EnginesLimits = Vector6.zero;
var MaxEnginesLimits = Vector6.zero;
for (int i = 0, count = VSL.Engines.Steering.Count; i < count; i++)
{
var e = VSL.Engines.Steering[i];
EnginesLimits.Add(e.currentTorque);
MaxEnginesLimits.Add(e.specificTorque * e.nominalCurrentThrust(1));
}
//wheels
WheelsLimits = Vector6.zero;
for (int i = 0, count = Wheels.Count; i < count; i++)
{
var w = Wheels[i];
if (!w.operational)
{
continue;
}
var torque = new Vector3(w.PitchTorque, w.RollTorque, w.YawTorque);
WheelsLimits.Add(torque);
WheelsLimits.Add(-torque);
}
//RCS
RCSLimits = Vector6.zero;
for (int i = 0; i < VSL.Engines.NumActiveRCS; i++)
{
var r = VSL.Engines.ActiveRCS[i];
for (int j = 0, tcount = r.rcs.thrusterTransforms.Count; j < tcount; j++)
{
var t = r.rcs.thrusterTransforms[j];
if (t == null)
{
continue;
}
RCSLimits.Add(refT.InverseTransformDirection(Vector3.Cross(t.position - VSL.Physics.wCoM, t.up) * r.rcs.thrusterPower));
}
}
//torque and angular acceleration
Engines.Update(EnginesLimits.Max);
NoEngines.Update(RCSLimits.Max + WheelsLimits.Max);
MaxEngines.Update(MaxEnginesLimits.Max);
MaxCurrent.Update(NoEngines.Torque + Engines.Torque);
MaxPossible.Update(NoEngines.Torque + MaxEngines.Torque);
MaxPitchRoll.Update(Vector3.ProjectOnPlane(MaxCurrent.Torque, VSL.Engines.CurrentThrustDir));
if (MaxCurrent.AA_rad > 0)
{
MaxAAMod = MaxAAFilter.Update(MaxCurrent.AA_rad) / MaxCurrent.AA_rad;
MaxAAMod *= MaxAAMod * MaxAAMod;
}
else
{
MaxAAMod = 1;
}
}
public override void Update()
{
//engines
EnginesResponseTime = Vector3.zero;
EnginesResponseTimeM = 0f;
EnginesLimits = Vector6.zero;
var MaxEnginesLimits = Vector6.zero;
var EnginesSpecificTorque = Vector6.zero;
var TorqueResponseSpeed = Vector6.zero;
var TotalSlowTorque = Vector6.zero;
for (int i = 0, count = VSL.Engines.Active.Steering.Count; i < count; i++)
{
var e = VSL.Engines.Active.Steering[i];
EnginesLimits.Add(e.currentTorque);
EnginesSpecificTorque.Add(e.specificTorque);
MaxEnginesLimits.Add(e.specificTorque * e.nominalCurrentThrust(1));
if (e.useEngineResponseTime && (e.Role == TCARole.MAIN || e.Role == TCARole.MANEUVER))
{
TotalSlowTorque.Add(e.currentTorque);
TorqueResponseSpeed.Add(e.currentTorque * Mathf.Max(e.engineAccelerationSpeed, e.engineDecelerationSpeed));
}
}
//wheels
WheelsLimits = Vector6.zero;
for (int i = 0, count = Wheels.Count; i < count; i++)
{
var w = Wheels[i];
if (w.State != ModuleReactionWheel.WheelState.Active)
{
continue;
}
var torque = new Vector3(w.PitchTorque, w.RollTorque, w.YawTorque);
WheelsLimits.Add(torque);
WheelsLimits.Add(-torque);
}
//RCS
RCSLimits = Vector6.zero;
var RCSSpecificTorque = Vector6.zero;
for (int i = 0; i < VSL.Engines.NumActiveRCS; i++)
{
var r = VSL.Engines.ActiveRCS[i];
for (int j = 0, tcount = r.rcs.thrusterTransforms.Count; j < tcount; j++)
{
var t = r.rcs.thrusterTransforms[j];
if (t == null)
{
continue;
}
var specificTorque = refT.InverseTransformDirection(Vector3.Cross(t.position - VSL.Physics.wCoM, t.up));
RCSLimits.Add(specificTorque * r.rcs.thrusterPower);
RCSSpecificTorque.Add(specificTorque);
}
}
//torque and angular acceleration
Engines.Update(EnginesLimits.Max);
NoEngines.Update(RCSLimits.Max + WheelsLimits.Max);
MaxEngines.Update(MaxEnginesLimits.Max);
MaxCurrent.Update(NoEngines.Torque + Engines.Torque);
MaxPossible.Update(NoEngines.Torque + MaxEngines.Torque);
MaxPitchRoll.Update(Vector3.ProjectOnPlane(MaxCurrent.Torque, VSL.Engines.CurrentThrustDir));
//specifc angular acceleration
Engines.SpecificTorque = EnginesSpecificTorque.Max;
// Log("Engines.SpecificTorque: {}, TorqueResponseTime: {}", Engines.SpecificTorque, VSL.Engines.TorqueResponseTime);//debug
NoEngines.SpecificTorque = RCSSpecificTorque.Max;
MaxEngines.SpecificTorque = Engines.SpecificTorque;
MaxCurrent.SpecificTorque = Engines.SpecificTorque + NoEngines.SpecificTorque;
MaxPossible.SpecificTorque = MaxCurrent.SpecificTorque;
MaxPitchRoll.SpecificTorque = Vector3.ProjectOnPlane(MaxCurrent.SpecificTorque, VSL.Engines.CurrentThrustDir);
//torque response time
if (!TorqueResponseSpeed.IsZero())
{
var slow_torque = TotalSlowTorque.Max;
EnginesResponseTime = Vector3.Scale(slow_torque, TorqueResponseSpeed.Max.Inverse(0));
EnginesResponseTime = EnginesResponseTime.ScaleChain(slow_torque, MaxCurrent.Torque.Inverse(0));
EnginesResponseTimeM = EnginesResponseTime.MaxComponentF();
}
//Max AA filter
if (MaxCurrent.AA_rad > 0)
{
MaxAAMod = MaxAAFilter.Update(MaxCurrent.AA_rad) / MaxCurrent.AA_rad;
MaxAAMod *= MaxAAMod * MaxAAMod;
}
else
{
MaxAAMod = 1;
}
}
public override void Update()
{
//engines
Slow = false;
EnginesResponseTime = Vector3.zero;
EnginesResponseTimeM = 0f;
EnginesLimits = Vector6.zero;
RCSLimits = Vector6.zero;
OtherLimits = Vector6.zero;
var MaxEnginesLimits = Vector6.zero;
var EnginesSpecificTorque = Vector6.zero;
var EnginesMaxSpecificTorque = Vector6.zero;
var TorqueResponseSpeed = Vector6.zero;
var TotalSlowTorque = Vector6.zero;
var TotalSlowSpecificTorque = Vector6.zero;
var RCSSpecificTorque = Vector6.zero;
for(int i = 0, count = VSL.Engines.Active.Steering.Count; i < count; i++)
{
var e = VSL.Engines.Active.Steering[i];
var max_torque = e.defSpecificTorque * e.nominalFullThrust;
Vector3 pos, neg, max_spec_torque = e.defSpecificTorque;
if(e.gimbal != null && e.gimbal.gimbalActive && !e.gimbal.gimbalLock)
{
Gimball = true;
e.gimbal.GetPotentialTorque(out pos, out neg);
max_torque += new Vector3(Mathf.Max(pos.x, neg.x), Mathf.Max(pos.y, neg.y), Mathf.Max(pos.z, neg.z));
max_spec_torque = max_torque / e.nominalFullThrust;
}
EnginesLimits.Add(e.defCurrentTorque);
EnginesSpecificTorque.Add(e.defSpecificTorque);
MaxEnginesLimits.Add(max_torque);
EnginesMaxSpecificTorque.Add(max_spec_torque);
if(e.useEngineResponseTime)
{
TotalSlowTorque.Add(max_torque);
TotalSlowSpecificTorque.Add(max_spec_torque);
TorqueResponseSpeed.Add(max_torque* Mathf.Max(e.engineAccelerationSpeed, e.engineDecelerationSpeed));
}
}
//RCS
for(int i = 0; i < VSL.Engines.NumActiveRCS; i++)
{
var r = VSL.Engines.ActiveRCS[i];
for(int j = 0, tcount = r.rcs.thrusterTransforms.Count; j < tcount; j++)
{
var t = r.rcs.thrusterTransforms[j];
if(t == null) continue;
var specificTorque = refT.InverseTransformDirection(Vector3.Cross(t.position-VSL.Physics.wCoM, t.up));
RCSLimits.Add(specificTorque*r.rcs.thrusterPower);
RCSSpecificTorque.Add(specificTorque);
}
}
//wheels and control surfaces
for(int i = 0, count = Wheels.Count; i < count; i++)
{
var w = Wheels[i];
var limit = w.authorityLimiter/100;
Vector3 pos, neg;
w.GetPotentialTorque(out pos, out neg);
OtherLimits.Add(pos*limit);
OtherLimits.Add(-neg*limit);
}
for(int i = 0, count = ControlSurfaces.Count; i < count; i++)
{
var s = ControlSurfaces[i];
Vector3 pos, neg;
s.GetPotentialTorque(out pos, out neg);
OtherLimits.Add(pos);
OtherLimits.Add(-neg);
}
//torque and angular acceleration
Engines.Update(EnginesLimits.Max);
NoEngines.Update(RCSLimits.Max+OtherLimits.Max);
MaxEngines.Update(MaxEnginesLimits.Max);
MaxCurrent.Update(NoEngines.Torque+Engines.Torque);
MaxPossible.Update(NoEngines.Torque+MaxEngines.Torque);
MaxPitchRoll.Update(Vector3.ProjectOnPlane(MaxCurrent.Torque, VSL.Engines.CurrentThrustDir).AbsComponents());
SlowMaxPossible.Update(TotalSlowTorque.Max);
Instant.Update(MaxPossible.Torque-SlowMaxPossible.Torque);
//specifc torque
Engines.SpecificTorque = EnginesSpecificTorque.Max;
NoEngines.SpecificTorque = RCSSpecificTorque.Max;
MaxEngines.SpecificTorque = EnginesMaxSpecificTorque.Max;
MaxCurrent.SpecificTorque = Engines.SpecificTorque+NoEngines.SpecificTorque;
MaxPossible.SpecificTorque = MaxEngines.SpecificTorque + NoEngines.SpecificTorque;
MaxPitchRoll.SpecificTorque = Vector3.ProjectOnPlane(MaxCurrent.SpecificTorque, VSL.Engines.CurrentThrustDir).AbsComponents();
SlowMaxPossible.SpecificTorque = TotalSlowSpecificTorque.Max;
Instant.SpecificTorque = MaxPossible.SpecificTorque-SlowMaxPossible.SpecificTorque;
//torque response time
if(!TorqueResponseSpeed.IsZero())
{
EnginesResponseTime = Vector3.Scale(SlowMaxPossible.Torque, TorqueResponseSpeed.Max.Inverse(0));
EnginesResponseTime = EnginesResponseTime.ScaleChain(SlowMaxPossible.Torque, MaxPossible.Torque.Inverse(0));
EnginesResponseTimeM = EnginesResponseTime.MaxComponentF();
Slow = true;
}
//Max AA filter
if(MaxCurrent.AA_rad > 0)
{
MaxAAMod = MaxAAFilter.Update(MaxCurrent.AA_rad)/MaxCurrent.AA_rad;
MaxAAMod *= MaxAAMod*MaxAAMod;
}
else MaxAAMod = 1;
}
public override void Update()
{
//engines
Slow = false;
EnginesResponseTime = Vector3.zero;
EnginesResponseTimeM = 0f;
EnginesLimits = Vector6.zero;
var MaxEnginesLimits = Vector6.zero;
var EnginesSpecificTorque = Vector6.zero;
var TorqueResponseSpeed = Vector6.zero;
var TotalSlowTorque = Vector6.zero;
var TotalSlowSpecificTorque = Vector6.zero;
for (int i = 0, count = VSL.Engines.Active.Steering.Count; i < count; i++)
{
var e = VSL.Engines.Active.Steering[i];
var max_torque = e.defSpecificTorque * e.nominalFullThrust;
EnginesLimits.Add(e.defCurrentTorque);
EnginesSpecificTorque.Add(e.defSpecificTorque);
MaxEnginesLimits.Add(max_torque);
if (e.useEngineResponseTime)
{
TotalSlowTorque.Add(max_torque);
TotalSlowSpecificTorque.Add(e.defSpecificTorque);
TorqueResponseSpeed.Add(max_torque * Mathf.Max(e.engineAccelerationSpeed, e.engineDecelerationSpeed));
}
Gimball |= e.gimbal != null && e.gimbal.gimbalActive && !e.gimbal.gimbalLock;
}
//wheels
WheelsLimits = Vector6.zero;
for (int i = 0, count = Wheels.Count; i < count; i++)
{
var w = Wheels[i];
if (w.State != ModuleReactionWheel.WheelState.Active)
{
continue;
}
var torque = new Vector3(w.PitchTorque, w.RollTorque, w.YawTorque) * w.authorityLimiter / 100;
WheelsLimits.Add(torque);
WheelsLimits.Add(-torque);
}
//RCS
RCSLimits = Vector6.zero;
var RCSSpecificTorque = Vector6.zero;
for (int i = 0; i < VSL.Engines.NumActiveRCS; i++)
{
var r = VSL.Engines.ActiveRCS[i];
for (int j = 0, tcount = r.rcs.thrusterTransforms.Count; j < tcount; j++)
{
var t = r.rcs.thrusterTransforms[j];
if (t == null)
{
continue;
}
var specificTorque = refT.InverseTransformDirection(Vector3.Cross(t.position - VSL.Physics.wCoM, t.up));
RCSLimits.Add(specificTorque * r.rcs.thrusterPower);
RCSSpecificTorque.Add(specificTorque);
}
}
//torque and angular acceleration
Engines.Update(EnginesLimits.Max);
NoEngines.Update(RCSLimits.Max + WheelsLimits.Max);
MaxEngines.Update(MaxEnginesLimits.Max);
MaxCurrent.Update(NoEngines.Torque + Engines.Torque);
MaxPossible.Update(NoEngines.Torque + MaxEngines.Torque);
MaxPitchRoll.Update(Vector3.ProjectOnPlane(MaxCurrent.Torque, VSL.Engines.CurrentThrustDir).AbsComponents());
SlowMaxPossible.Update(TotalSlowTorque.Max);
Instant.Update(MaxPossible.Torque - SlowMaxPossible.Torque);
//specifc torque
Engines.SpecificTorque = EnginesSpecificTorque.Max;
NoEngines.SpecificTorque = RCSSpecificTorque.Max;
MaxEngines.SpecificTorque = Engines.SpecificTorque;
MaxCurrent.SpecificTorque = Engines.SpecificTorque + NoEngines.SpecificTorque;
MaxPossible.SpecificTorque = MaxCurrent.SpecificTorque;
MaxPitchRoll.SpecificTorque = Vector3.ProjectOnPlane(MaxCurrent.SpecificTorque, VSL.Engines.CurrentThrustDir).AbsComponents();
SlowMaxPossible.SpecificTorque = TotalSlowSpecificTorque.Max;
Instant.SpecificTorque = MaxPossible.SpecificTorque - SlowMaxPossible.SpecificTorque;
//torque response time
if (!TorqueResponseSpeed.IsZero())
{
EnginesResponseTime = Vector3.Scale(SlowMaxPossible.Torque, TorqueResponseSpeed.Max.Inverse(0));
EnginesResponseTime = EnginesResponseTime.ScaleChain(SlowMaxPossible.Torque, MaxPossible.Torque.Inverse(0));
EnginesResponseTimeM = EnginesResponseTime.MaxComponentF();
Slow = true;
}
//Max AA filter
if (MaxCurrent.AA_rad > 0)
{
MaxAAMod = MaxAAFilter.Update(MaxCurrent.AA_rad) / MaxCurrent.AA_rad;
MaxAAMod *= MaxAAMod * MaxAAMod;
}
else
{
MaxAAMod = 1;
}
}