protected override void OnStart()
{
FARLogger.Info("FARVesselAero on " + vessel.name + " reporting startup");
base.OnStart();
if (!CompatibilityChecker.IsAllCompatible())
{
this.enabled = false;
return;
}
if (!HighLogic.LoadedSceneIsFlight)
{
this.enabled = false;
return;
}
_currentGeoModules = new List <GeometryPartModule>();
/*if (!vessel.rootPart)
* {
* this.enabled = false;
* return;
* }*/
for (int i = 0; i < vessel.parts.Count; i++)
{
Part p = vessel.parts[i];
p.maximum_drag = 0;
p.minimum_drag = 0;
p.angularDrag = 0;
/*p.dragModel = Part.DragModel.NONE;
* p.dragReferenceVector = Vector3.zero;
* p.dragScalar = 0;
* p.dragVector = Vector3.zero;
* p.dragVectorDir = Vector3.zero;
* p.dragVectorDirLocal = Vector3.zero;
* p.dragVectorMag = 0;
* p.dragVectorSqrMag = 0;
*
* p.bodyLiftMultiplier = 0;
* p.bodyLiftScalar = 0;*/
GeometryPartModule g = p.GetComponent <GeometryPartModule>();
if ((object)g != null)
{
_currentGeoModules.Add(g);
if (g.Ready)
{
geoModulesReady++;
}
}
if (p.Modules.Contains <KerbalEVA>() || p.Modules.Contains <FlagSite>())
{
FARLogger.Info("Handling Stuff for KerbalEVA / Flag");
g = (GeometryPartModule)p.AddModule("GeometryPartModule");
g.OnStart(StartState());
p.AddModule("FARAeroPartModule").OnStart(StartState());
_currentGeoModules.Add(g);
}
}
RequestUpdateVoxel(false);
this.enabled = true;
//GameEvents.onVesselLoaded.Add(VesselUpdateEvent);
//GameEvents.onVesselChange.Add(VesselUpdateEvent);
//GameEvents.onVesselLoaded.Add(VesselUpdate);
//GameEvents.onVesselCreate.Add(VesselUpdateEvent);
//FARLogger.Info("Starting " + _vessel.vesselName + " aero properties");
}
private void LogError(string msg)
{
FARLogger.Error(msg);
StopLogging();
}
public StabilityDerivOutput CalculateStabilityDerivs(
CelestialBody body,
double alt,
double machNumber,
int flapSetting,
bool spoilers,
double alpha,
double beta,
double phi
)
{
double pressure = body.GetPressure(alt);
double temperature = body.GetTemperature(alt);
double density = body.GetDensity(pressure, temperature);
double sspeed = body.GetSpeedOfSound(pressure, density);
double u0 = sspeed * machNumber;
double q = u0 * u0 * density * 0.5f;
var stabDerivOutput = new StabilityDerivOutput
{
nominalVelocity = u0,
altitude = alt,
body = body
};
Vector3d CoM = Vector3d.zero;
double mass = 0;
double MAC = 0;
double b = 0;
double area = 0;
double Ix = 0;
double Iy = 0;
double Iz = 0;
double Ixy = 0;
double Iyz = 0;
double Ixz = 0;
var input = new InstantConditionSimInput(alpha, beta, phi, 0, 0, 0, machNumber, 0, flapSetting, spoilers);
var pertOutput = new InstantConditionSimOutput();
_instantCondition.GetClCdCmSteady(input, out InstantConditionSimOutput nominalOutput, true);
List <Part> partsList = EditorLogic.SortedShipList;
foreach (Part p in partsList)
{
if (FARAeroUtil.IsNonphysical(p))
{
continue;
}
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
CoM += partMass * (Vector3d)p.transform.TransformPoint(p.CoMOffset);
mass += partMass;
var w = p.GetComponent <FARWingAerodynamicModel>();
if (w == null)
{
continue;
}
if (w.isShielded)
{
continue;
}
area += w.S;
MAC += w.GetMAC() * w.S;
b += w.Getb_2() * w.S;
if (w is FARControllableSurface controllableSurface)
{
controllableSurface.SetControlStateEditor(CoM,
p.transform.up,
0,
0,
0,
input.flaps,
input.spoilers);
}
}
if (area.NearlyEqual(0))
{
area = _instantCondition._maxCrossSectionFromBody;
MAC = _instantCondition._bodyLength;
b = 1;
}
MAC /= area;
b /= area;
CoM /= mass;
mass *= 1000;
stabDerivOutput.b = b;
stabDerivOutput.MAC = MAC;
stabDerivOutput.area = area;
foreach (Part p in partsList)
{
if (p == null || FARAeroUtil.IsNonphysical(p))
{
continue;
}
//This section handles the parallel axis theorem
Vector3 relPos = p.transform.TransformPoint(p.CoMOffset) - CoM;
double x2 = relPos.z * relPos.z;
double y2 = relPos.x * relPos.x;
double z2 = relPos.y * relPos.y;
double x = relPos.z;
double y = relPos.x;
double z = relPos.y;
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
Ix += (y2 + z2) * partMass;
Iy += (x2 + z2) * partMass;
Iz += (x2 + y2) * partMass;
Ixy += -x * y * partMass;
Iyz += -z * y * partMass;
Ixz += -x * z * partMass;
//And this handles the part's own moment of inertia
Vector3 principalInertia = p.Rigidbody.inertiaTensor;
Quaternion prncInertRot = p.Rigidbody.inertiaTensorRotation;
//The rows of the direction cosine matrix for a quaternion
var Row1 =
new Vector3(prncInertRot.x * prncInertRot.x -
prncInertRot.y * prncInertRot.y -
prncInertRot.z * prncInertRot.z +
prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.x * prncInertRot.y + prncInertRot.z * prncInertRot.w),
2 * (prncInertRot.x * prncInertRot.z - prncInertRot.y * prncInertRot.w));
var Row2 = new Vector3(2 * (prncInertRot.x * prncInertRot.y - prncInertRot.z * prncInertRot.w),
-prncInertRot.x * prncInertRot.x +
prncInertRot.y * prncInertRot.y -
prncInertRot.z * prncInertRot.z +
prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.y * prncInertRot.z + prncInertRot.x * prncInertRot.w));
var Row3 = new Vector3(2 * (prncInertRot.x * prncInertRot.z + prncInertRot.y * prncInertRot.w),
2 * (prncInertRot.y * prncInertRot.z - prncInertRot.x * prncInertRot.w),
-prncInertRot.x * prncInertRot.x -
prncInertRot.y * prncInertRot.y +
prncInertRot.z * prncInertRot.z +
prncInertRot.w * prncInertRot.w);
//And converting the principal moments of inertia into the coordinate system used by the system
Ix += principalInertia.x * Row1.x * Row1.x +
principalInertia.y * Row1.y * Row1.y +
principalInertia.z * Row1.z * Row1.z;
Iy += principalInertia.x * Row2.x * Row2.x +
principalInertia.y * Row2.y * Row2.y +
principalInertia.z * Row2.z * Row2.z;
Iz += principalInertia.x * Row3.x * Row3.x +
principalInertia.y * Row3.y * Row3.y +
principalInertia.z * Row3.z * Row3.z;
Ixy += principalInertia.x * Row1.x * Row2.x +
principalInertia.y * Row1.y * Row2.y +
principalInertia.z * Row1.z * Row2.z;
Ixz += principalInertia.x * Row1.x * Row3.x +
principalInertia.y * Row1.y * Row3.y +
principalInertia.z * Row1.z * Row3.z;
Iyz += principalInertia.x * Row2.x * Row3.x +
principalInertia.y * Row2.y * Row3.y +
principalInertia.z * Row2.z * Row3.z;
}
Ix *= 1000;
Iy *= 1000;
Iz *= 1000;
stabDerivOutput.stabDerivs[0] = Ix;
stabDerivOutput.stabDerivs[1] = Iy;
stabDerivOutput.stabDerivs[2] = Iz;
stabDerivOutput.stabDerivs[24] = Ixy;
stabDerivOutput.stabDerivs[25] = Iyz;
stabDerivOutput.stabDerivs[26] = Ixz;
//This is the effect of gravity
double effectiveG = InstantConditionSim.CalculateAccelerationDueToGravity(body, alt);
//This is the effective reduction of gravity due to high velocity
effectiveG -= u0 * u0 / (alt + body.Radius);
double neededCl = mass * effectiveG / (q * area);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
//Longitudinal Mess
_instantCondition.SetState(machNumber, neededCl, CoM, 0, input.flaps, input.spoilers);
FARMathUtil.OptimizationResult optResult =
FARMathUtil.Secant(_instantCondition.FunctionIterateForAlpha,
0,
10,
1e-4,
1e-4,
minLimit: -90,
maxLimit: 90);
int calls = optResult.FunctionCalls;
// if stable AoA doesn't exist, calculate derivatives at 0 incidence
if (!optResult.Converged)
{
FARLogger.Info("Stable angle of attack not found, calculating derivatives at 0 incidence instead");
alpha = 0;
_instantCondition.FunctionIterateForAlpha(alpha);
calls += 1;
}
else
{
alpha = optResult.Result;
}
input.alpha = alpha;
nominalOutput = _instantCondition.iterationOutput;
input.alpha = alpha + 2;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
stabDerivOutput.stableCl = neededCl;
stabDerivOutput.stableCd = nominalOutput.Cd;
stabDerivOutput.stableAoA = alpha;
stabDerivOutput.stableAoAState = "";
if (Math.Abs((nominalOutput.Cl - neededCl) / neededCl) > 0.1)
{
stabDerivOutput.stableAoAState = nominalOutput.Cl > neededCl ? "<" : ">";
}
FARLogger.Info("Cl needed: " +
neededCl.ToString(CultureInfo.InvariantCulture) +
", AoA: " +
stabDerivOutput.stableAoA.ToString(CultureInfo.InvariantCulture) +
", Cl: " +
nominalOutput.Cl.ToString(CultureInfo.InvariantCulture) +
", Cd: " +
nominalOutput.Cd.ToString(CultureInfo.InvariantCulture) +
", function calls: " +
calls.ToString());
//vert vel derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / (2 * FARMathUtil.deg2rad);
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / (2 * FARMathUtil.deg2rad);
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / (2 * FARMathUtil.deg2rad);
pertOutput.Cl += nominalOutput.Cd;
pertOutput.Cd -= nominalOutput.Cl;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (Iy * u0);
stabDerivOutput.stabDerivs[3] = pertOutput.Cl; //Zw
stabDerivOutput.stabDerivs[4] = pertOutput.Cd; //Xw
stabDerivOutput.stabDerivs[5] = pertOutput.Cm; //Mw
// Rodhern: The motivation for the revised stability derivatives sign interpretations of Zq, Xq, Ze and Xe
// is to align the sign conventions used for Zu, Zq, Ze, Xu, Xq and Xe. Further explanation can be found
// here: https://forum.kerbalspaceprogram.com/index.php?/topic/109098-official-far-craft-repository/&do=findComment&comment=2425057
input.alpha = alpha;
input.machNumber = machNumber + 0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//fwd vel derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05 * machNumber;
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05 * machNumber;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05 * machNumber;
pertOutput.Cl += 2 * nominalOutput.Cl;
pertOutput.Cd += 2 * nominalOutput.Cd;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (u0 * Iy);
stabDerivOutput.stabDerivs[6] = pertOutput.Cl; //Zu
stabDerivOutput.stabDerivs[7] = pertOutput.Cd; //Xu
stabDerivOutput.stabDerivs[8] = pertOutput.Cm; //Mu
input.machNumber = machNumber;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.alphaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//pitch rate derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05;
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05;
pertOutput.Cl *= -q * area * MAC / (2 * u0 * mass); // Rodhern: Replaced 'q' by '-q', so that formulas
pertOutput.Cd *= -q * area * MAC / (2 * u0 * mass); // for Zq and Xq match those for Zu and Xu.
pertOutput.Cm *= q * area * MAC * MAC / (2 * u0 * Iy);
stabDerivOutput.stabDerivs[9] = pertOutput.Cl; //Zq
stabDerivOutput.stabDerivs[10] = pertOutput.Cd; //Xq
stabDerivOutput.stabDerivs[11] = pertOutput.Cm; //Mq
input.alphaDot = 0;
input.pitchValue = 0.1;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//elevator derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.1;
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.1;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.1;
pertOutput.Cl *= -q * area / mass; // Rodhern: Replaced 'q' by '-q', so that formulas
pertOutput.Cd *= -q * area / mass; // for Ze and Xe match those for Zu and Xu.
pertOutput.Cm *= q * area * MAC / Iy;
stabDerivOutput.stabDerivs[12] = pertOutput.Cl; //Ze
stabDerivOutput.stabDerivs[13] = pertOutput.Cd; //Xe
stabDerivOutput.stabDerivs[14] = pertOutput.Cm; //Me
//Lateral Mess
input.pitchValue = 0;
input.beta = beta + 2;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//sideslip angle derivs
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / (2 * FARMathUtil.deg2rad);
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / (2 * FARMathUtil.deg2rad);
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / (2 * FARMathUtil.deg2rad);
pertOutput.Cy *= q * area / mass;
pertOutput.Cn *= q * area * b / Iz;
pertOutput.C_roll *= q * area * b / Ix;
stabDerivOutput.stabDerivs[15] = pertOutput.Cy; //Yb
stabDerivOutput.stabDerivs[17] = pertOutput.Cn; //Nb
stabDerivOutput.stabDerivs[16] = pertOutput.C_roll; //Lb
input.beta = beta;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.phiDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//roll rate derivs
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05;
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[18] = pertOutput.Cy; //Yp
stabDerivOutput.stabDerivs[20] = pertOutput.Cn; //Np
stabDerivOutput.stabDerivs[19] = pertOutput.C_roll; //Lp
input.phiDot = 0;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.betaDot = -0.05;
//yaw rate derivs
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05f;
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05f;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05f;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[21] = pertOutput.Cy; //Yr
stabDerivOutput.stabDerivs[23] = pertOutput.Cn; //Nr
stabDerivOutput.stabDerivs[22] = pertOutput.C_roll; //Lr
return(stabDerivOutput);
}
public static GraphData RunTransientSimLateral(
StabilityDerivOutput vehicleData,
double endTime,
double initDt,
double[] InitCond
)
{
var A = new SimMatrix(4, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
var Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
Derivs[15] = Derivs[15] / vehicleData.nominalVelocity;
Derivs[18] = Derivs[18] / vehicleData.nominalVelocity;
Derivs[21] = Derivs[21] / vehicleData.nominalVelocity - 1;
double Lb = Derivs[16] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Nb = Derivs[17] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Lp = Derivs[19] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Np = Derivs[20] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Lr = Derivs[22] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Nr = Derivs[23] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
Derivs[16] = Lb + Derivs[26] / Derivs[0] * Nb;
Derivs[17] = Nb + Derivs[26] / Derivs[2] * Lb;
Derivs[19] = Lp + Derivs[26] / Derivs[0] * Np;
Derivs[20] = Np + Derivs[26] / Derivs[2] * Lp;
Derivs[22] = Lr + Derivs[26] / Derivs[0] * Nr;
Derivs[23] = Nr + Derivs[26] / Derivs[2] * Lr;
foreach (double f in Derivs)
{
if (num < 15)
{
num++; //Avoid Ix, Iy, Iz and long derivs
continue;
}
num++;
FARLogger.Info("" + i + "," + j);
if (i <= 2)
{
A.Add(f, i, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(InstantConditionSim.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude) *
Math.Cos(vehicleData.stableAoA * Math.PI / 180) /
vehicleData.nominalVelocity,
3,
0);
A.Add(1, 1, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Yb / u0 , Yp / u0 , -(1 - Yr/ u0) , g Cos(θ0) / u0 ]
* | [ Lb , Lp , Lr , 0 ]
* | [ Nb , Np , Nr , 0 ]
* \ / [ 0 , 1 , 0 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
var transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
var lines = new GraphData {
xValues = transSolve.time
};
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "β", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "p", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "r", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "φ", true);
return(lines);
}
private void ToggleGear()
{
List <Part> partsList = EditorLogic.SortedShipList;
foreach (Part p in partsList)
{
if (p.Modules.Contains <ModuleWheelDeployment>())
{
ModuleWheelDeployment l = p.Modules.GetModule <ModuleWheelDeployment>();
l.ActionToggle(new KSPActionParam(KSPActionGroup.Gear,
gearToggle ? KSPActionType.Activate : KSPActionType.Deactivate));
}
if (p.Modules.Contains("FSwheel"))
{
PartModule m = p.Modules["FSwheel"];
MethodInfo method =
m.GetType().GetMethod("animate", BindingFlags.Instance | BindingFlags.NonPublic);
if (method == null)
{
FARLogger.Error("FSwheel does not have method 'animate");
}
else
{
method.Invoke(m, gearToggle ? new object[] { "Deploy" } : new object[] { "Retract" });
}
}
if (p.Modules.Contains("FSBDwheel"))
{
PartModule m = p.Modules["FSBDwheel"];
MethodInfo method =
m.GetType().GetMethod("animate", BindingFlags.Instance | BindingFlags.NonPublic);
if (method == null)
{
FARLogger.Error("FSBDwheel does not have method 'animate");
}
else
{
method.Invoke(m, gearToggle ? new object[] { "Deploy" } : new object[] { "Retract" });
}
}
// ReSharper disable once InvertIf
if (p.Modules.Contains("KSPWheelAdjustableGear"))
{
PartModule m = p.Modules["KSPWheelAdjustableGear"];
MethodInfo method = m.GetType().GetMethod("deploy", BindingFlags.Instance | BindingFlags.Public);
try
{
if (method == null)
{
FARLogger.Error("KSPWheelAdjustableGear does not have method 'animate");
}
else
{
method.Invoke(m, null);
}
}
catch (Exception e)
{
//we just catch and print this ourselves to allow things to continue working, since there seems to be a bug in KSPWheels as of this writing
FARLogger.Exception(e);
}
}
}
gearToggle = !gearToggle;
}
public void VesselUpdate(bool recalcGeoModules)
{
if (vessel == null)
{
vessel = gameObject.GetComponent <Vessel>();
if (vessel == null || vessel.vesselTransform == null)
{
return;
}
}
if (_vehicleAero == null)
{
_vehicleAero = new VehicleAerodynamics();
_vesselIntakeRamDrag = new VesselIntakeRamDrag();
}
//this has been updated recently in the past; queue an update and return
if (_updateRateLimiter < FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate)
{
_updateQueued = true;
return;
}
_updateRateLimiter = 0;
_updateQueued = false;
if (vessel.rootPart.Modules.Contains <LaunchClamp>())
{
DisableModule();
return;
}
if (recalcGeoModules)
{
_currentGeoModules.Clear();
geoModulesReady = 0;
foreach (Part p in vessel.Parts)
{
GeometryPartModule g = p.Modules.GetModule <GeometryPartModule>();
if (g is null)
{
continue;
}
_currentGeoModules.Add(g);
if (g.Ready)
{
geoModulesReady++;
}
}
}
if (_currentGeoModules.Count > geoModulesReady)
{
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
_updateQueued = true;
return;
}
if (_currentGeoModules.Count == 0)
{
DisableModule();
FARLogger.Info("Disabling FARVesselAero on " + vessel.name + " due to no FARGeometryModules on board");
}
TriggerIGeometryUpdaters();
if (VoxelizationThreadpool.RunInMainThread)
{
for (int i = _currentGeoModules.Count - 1; i >= 0; --i)
{
if (_currentGeoModules[i].Ready)
{
continue;
}
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
_updateQueued = true;
return;
}
}
_voxelCount = VoxelCountFromType();
if (!_vehicleAero.TryVoxelUpdate(vessel.vesselTransform.worldToLocalMatrix,
vessel.vesselTransform.localToWorldMatrix,
_voxelCount,
vessel.Parts,
_currentGeoModules,
!setup,
vessel))
{
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
_updateQueued = true;
}
if (!_updateQueued)
{
setup = true;
}
FARLogger.Info("Updating vessel voxel for " + vessel.vesselName);
}
public GraphData RunTransientSimLongitudinal(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
int i = 0;
int j = 0;
double[] Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
double MAC2u = vehicleData.MAC / (2 * vehicleData.nominalVelocity);
double effg = _instantCondition.CalculateEffectiveGravity(vehicleData.body, vehicleData.altitude, vehicleData.nominalVelocity);
FARLogger.Info("MAC/(2u)= " + MAC2u + " IGNORED!");
FARLogger.Info("effg= " + effg);
// Rodhern: For possible backward compability the rotation (moment) derivatives can be
// scaled by "mac/(2u)" (pitch) and "b/(2u)" (roll and yaw).
//for (int h = 9; h <= 11; h++)
// Derivs[h] = Derivs[h] * MAC2u;
Derivs[9] = Derivs[9] + vehicleData.nominalVelocity;
for (int k = 3; k < 15 && k < Derivs.Length; k++)
{
double f = Derivs[k];
if (i <= 2)
{
FARLogger.Info("A[" + i + "," + j + "]= f_" + k + " = " + f);
A.Add(f, i, j);
}
else
{
FARLogger.Debug("Ignore B[0," + j + "]= " + f);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(-effg, 3, 1);
A.Add(1, 2, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Z w , Z u , Z q + u, 0 ]
* | [ X w , X u , X q , -g ]
* | [ M w , M u , M q , 0 ]
* \ / [ 0 , 0 , 1 , 0 ]
* V
*/
//And one that looks like this: (Unused)
/*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "w", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "u", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "q", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "θ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
/// <inheritdoc />
public void OnLoad(T resource)
{
FARLogger.DebugFormat("Loaded {0} from {1}", resource, Url);
Asset = resource;
AssetLoaded();
}
public void LoadAssets()
{
FARLogger.Info("Loading shader bundle");
MainThread.StartCoroutine(Load);
}
public void LoadAssets()
{
FARLogger.InfoFormat("Loading {0} bundle", BundleType);
MainThread.StartCoroutine(Load);
}
/// <inheritdoc />
public void OnError()
{
FARLogger.ErrorFormat("Failed to load asset from {0}", Url);
AssetError();
}
public StabilityDerivOutput CalculateStabilityDerivs(double u0, double q, double machNumber, double alpha, double beta, double phi, int flapSetting, bool spoilers, CelestialBody body, double alt)
{
StabilityDerivOutput stabDerivOutput = new StabilityDerivOutput();
stabDerivOutput.nominalVelocity = u0;
stabDerivOutput.altitude = alt;
stabDerivOutput.body = body;
Vector3d CoM = Vector3d.zero;
double mass = 0;
double MAC = 0;
double b = 0;
double area = 0;
double Ix = 0;
double Iy = 0;
double Iz = 0;
double Ixy = 0;
double Iyz = 0;
double Ixz = 0;
InstantConditionSimInput input = new InstantConditionSimInput(alpha, beta, phi, 0, 0, 0, machNumber, 0, flapSetting, spoilers);
InstantConditionSimOutput nominalOutput;
InstantConditionSimOutput pertOutput = new InstantConditionSimOutput();
_instantCondition.GetClCdCmSteady(input, out nominalOutput, true);
List <Part> partsList = EditorLogic.SortedShipList;
for (int i = 0; i < partsList.Count; i++)
{
Part p = partsList[i];
if (FARAeroUtil.IsNonphysical(p))
{
continue;
}
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
//partMass += p.GetModuleMass(p.mass);
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
CoM += partMass * (Vector3d)p.transform.TransformPoint(p.CoMOffset);
mass += partMass;
FARWingAerodynamicModel w = p.GetComponent <FARWingAerodynamicModel>();
if (w != null)
{
if (w.isShielded)
{
continue;
}
area += w.S;
MAC += w.GetMAC() * w.S;
b += w.Getb_2() * w.S;
if (w is FARControllableSurface)
{
(w as FARControllableSurface).SetControlStateEditor(CoM, p.transform.up, 0, 0, 0, input.flaps, input.spoilers);
}
}
}
if (area == 0)
{
area = _instantCondition._maxCrossSectionFromBody;
MAC = _instantCondition._bodyLength;
b = 1;
}
MAC /= area;
b /= area;
CoM /= mass;
mass *= 1000;
stabDerivOutput.b = b;
stabDerivOutput.MAC = MAC;
stabDerivOutput.area = area;
for (int i = 0; i < partsList.Count; i++)
{
Part p = partsList[i];
if (p == null || FARAeroUtil.IsNonphysical(p))
{
continue;
}
//This section handles the parallel axis theorem
Vector3 relPos = p.transform.TransformPoint(p.CoMOffset) - CoM;
double x2, y2, z2, x, y, z;
x2 = relPos.z * relPos.z;
y2 = relPos.x * relPos.x;
z2 = relPos.y * relPos.y;
x = relPos.z;
y = relPos.x;
z = relPos.y;
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
//partMass += p.GetModuleMass(p.mass);
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
Ix += (y2 + z2) * partMass;
Iy += (x2 + z2) * partMass;
Iz += (x2 + y2) * partMass;
Ixy += -x * y * partMass;
Iyz += -z * y * partMass;
Ixz += -x * z * partMass;
//And this handles the part's own moment of inertia
Vector3 principalInertia = p.Rigidbody.inertiaTensor;
Quaternion prncInertRot = p.Rigidbody.inertiaTensorRotation;
//The rows of the direction cosine matrix for a quaternion
Vector3 Row1 = new Vector3(prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.x * prncInertRot.y + prncInertRot.z * prncInertRot.w),
2 * (prncInertRot.x * prncInertRot.z - prncInertRot.y * prncInertRot.w));
Vector3 Row2 = new Vector3(2 * (prncInertRot.x * prncInertRot.y - prncInertRot.z * prncInertRot.w),
-prncInertRot.x * prncInertRot.x + prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.y * prncInertRot.z + prncInertRot.x * prncInertRot.w));
Vector3 Row3 = new Vector3(2 * (prncInertRot.x * prncInertRot.z + prncInertRot.y * prncInertRot.w),
2 * (prncInertRot.y * prncInertRot.z - prncInertRot.x * prncInertRot.w),
-prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y + prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w);
//And converting the principal moments of inertia into the coordinate system used by the system
Ix += principalInertia.x * Row1.x * Row1.x + principalInertia.y * Row1.y * Row1.y + principalInertia.z * Row1.z * Row1.z;
Iy += principalInertia.x * Row2.x * Row2.x + principalInertia.y * Row2.y * Row2.y + principalInertia.z * Row2.z * Row2.z;
Iz += principalInertia.x * Row3.x * Row3.x + principalInertia.y * Row3.y * Row3.y + principalInertia.z * Row3.z * Row3.z;
Ixy += principalInertia.x * Row1.x * Row2.x + principalInertia.y * Row1.y * Row2.y + principalInertia.z * Row1.z * Row2.z;
Ixz += principalInertia.x * Row1.x * Row3.x + principalInertia.y * Row1.y * Row3.y + principalInertia.z * Row1.z * Row3.z;
Iyz += principalInertia.x * Row2.x * Row3.x + principalInertia.y * Row2.y * Row3.y + principalInertia.z * Row2.z * Row3.z;
}
Ix *= 1000;
Iy *= 1000;
Iz *= 1000;
stabDerivOutput.stabDerivs[0] = Ix;
stabDerivOutput.stabDerivs[1] = Iy;
stabDerivOutput.stabDerivs[2] = Iz;
stabDerivOutput.stabDerivs[24] = Ixy;
stabDerivOutput.stabDerivs[25] = Iyz;
stabDerivOutput.stabDerivs[26] = Ixz;
double effectiveG = _instantCondition.CalculateAccelerationDueToGravity(body, alt); //This is the effect of gravity
effectiveG -= u0 * u0 / (alt + body.Radius); //This is the effective reduction of gravity due to high velocity
double neededCl = mass * effectiveG / (q * area);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
//Longitudinal Mess
_instantCondition.SetState(machNumber, neededCl, CoM, 0, input.flaps, input.spoilers);
alpha = FARMathUtil.BrentsMethod(_instantCondition.FunctionIterateForAlpha, -30d, 30d, 0.001, 500);
input.alpha = alpha;
nominalOutput = _instantCondition.iterationOutput;
//alpha_str = (alpha * Mathf.PI / 180).ToString();
input.alpha = (alpha + 2);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
stabDerivOutput.stableCl = neededCl;
stabDerivOutput.stableCd = nominalOutput.Cd;
stabDerivOutput.stableAoA = alpha;
stabDerivOutput.stableAoAState = "";
if (Math.Abs((nominalOutput.Cl - neededCl) / neededCl) > 0.1)
{
stabDerivOutput.stableAoAState = ((nominalOutput.Cl > neededCl) ? "<" : ">");
}
FARLogger.Info("Cl needed: " + neededCl + ", AoA: " + alpha + ", Cl: " + nominalOutput.Cl + ", Cd: " + nominalOutput.Cd);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / (2 * FARMathUtil.deg2rad); //vert vel derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / (2 * FARMathUtil.deg2rad);
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / (2 * FARMathUtil.deg2rad);
pertOutput.Cl += nominalOutput.Cd;
pertOutput.Cd -= nominalOutput.Cl;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (Iy * u0);
stabDerivOutput.stabDerivs[3] = pertOutput.Cl; //Zw
stabDerivOutput.stabDerivs[4] = pertOutput.Cd; //Xw
stabDerivOutput.stabDerivs[5] = pertOutput.Cm; //Mw
input.alpha = alpha;
input.machNumber = machNumber + 0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05 * machNumber; //fwd vel derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05 * machNumber;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05 * machNumber;
pertOutput.Cl += 2 * nominalOutput.Cl;
pertOutput.Cd += 2 * nominalOutput.Cd;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (u0 * Iy);
stabDerivOutput.stabDerivs[6] = pertOutput.Cl; //Zu
stabDerivOutput.stabDerivs[7] = pertOutput.Cd; //Xu
stabDerivOutput.stabDerivs[8] = pertOutput.Cm; //Mu
input.machNumber = machNumber;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.alphaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05; //pitch rate derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05;
pertOutput.Cl *= q * area * MAC / (2 * u0 * mass);
pertOutput.Cd *= q * area * MAC / (2 * u0 * mass);
pertOutput.Cm *= q * area * MAC * MAC / (2 * u0 * Iy);
stabDerivOutput.stabDerivs[9] = pertOutput.Cl; //Zq
stabDerivOutput.stabDerivs[10] = pertOutput.Cd; //Xq
stabDerivOutput.stabDerivs[11] = pertOutput.Cm; //Mq
input.alphaDot = 0;
input.pitchValue = 0.1;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.1; //elevator derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.1;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.1;
pertOutput.Cl *= q * area / mass;
pertOutput.Cd *= q * area / mass;
pertOutput.Cm *= q * area * MAC / Iy;
stabDerivOutput.stabDerivs[12] = pertOutput.Cl; //Ze
stabDerivOutput.stabDerivs[13] = pertOutput.Cd; //Xe
stabDerivOutput.stabDerivs[14] = pertOutput.Cm; //Me
//Lateral Mess
input.pitchValue = 0;
input.beta = (beta + 2);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / (2 * FARMathUtil.deg2rad); //sideslip angle derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / (2 * FARMathUtil.deg2rad);
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / (2 * FARMathUtil.deg2rad);
pertOutput.Cy *= q * area / mass;
pertOutput.Cn *= q * area * b / Iz;
pertOutput.C_roll *= q * area * b / Ix;
stabDerivOutput.stabDerivs[15] = pertOutput.Cy; //Yb
stabDerivOutput.stabDerivs[17] = pertOutput.Cn; //Nb
stabDerivOutput.stabDerivs[16] = pertOutput.C_roll; //Lb
input.beta = beta;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.phiDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05; //roll rate derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[18] = pertOutput.Cy; //Yp
stabDerivOutput.stabDerivs[20] = pertOutput.Cn; //Np
stabDerivOutput.stabDerivs[19] = pertOutput.C_roll; //Lp
input.phiDot = 0;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.betaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false); pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05f; //yaw rate derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05f;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05f;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[21] = pertOutput.Cy; //Yr
stabDerivOutput.stabDerivs[23] = pertOutput.Cn; //Nr
stabDerivOutput.stabDerivs[22] = pertOutput.C_roll; //Lr
return(stabDerivOutput);
}
public GraphData RunTransientSimLongitudinal(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
SimMatrix B = new SimMatrix(1, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
double[] Derivs = new double[27];
for (int k = 0; k < vehicleData.stabDerivs.Length; k++)
{
double f = vehicleData.stabDerivs[k];
if (num < 3 || num >= 15)
{
num++; //Avoid Ix, Iy, Iz
continue;
}
else
{
num++;
}
FARLogger.Info(i + "," + j);
if (i <= 2)
{
if (num == 10)
{
A.Add(f + vehicleData.nominalVelocity, i, j);
}
else
{
A.Add(f, i, j);
}
}
else
{
B.Add(f, 0, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(-_instantCondition.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude), 3, 1);
A.Add(1, 2, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Z w , Z u , Z q + u, 0 ]
* | [ X w , X u , X q , -g ]
* | [ M w , M u , M q , 0 ]
* \ / [ 0 , 0 , 1 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "w", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "u", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "q", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "θ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
public GraphData RunTransientSimLateral(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
int i = 0;
int j = 0;
double[] Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
double u0 = vehicleData.nominalVelocity;
double b2u = vehicleData.b / (2 * u0);
double effg = _instantCondition.CalculateEffectiveGravity(vehicleData.body, vehicleData.altitude, u0) * Math.Cos(vehicleData.stableCondition.stableAoA * Math.PI / 180);
double factor_xz_x = Derivs[26] / Derivs[0];
double factor_xz_z = Derivs[26] / Derivs[2];
double factor_invxz = 1 / (1 - factor_xz_x * factor_xz_z);
FARLogger.Info("u0= " + u0);
FARLogger.Info("b/(2u)= " + b2u + " IGNORED!");
FARLogger.Info("effg= " + effg + ", after multiplication with cos(AoA).");
FARLogger.Info("Ixz/Ix= " + factor_xz_x + ", used to add yaw to roll-deriv.");
FARLogger.Info("Ixz/Iz= " + factor_xz_z + ", used to add roll to yaw-deriv.");
FARLogger.Info("(1 - Ixz^2/(IxIz))^-1= " + factor_invxz);
// Rodhern: For possible backward compability the rotation (moment) derivatives can be
// scaled by "b/(2u)" (for pitch rate "mac/(2u)").
//for (int h = 18; h <= 23; h++)
// Derivs[h] = Derivs[h] * b2u;
Derivs[15] = Derivs[15] / u0;
Derivs[18] = Derivs[18] / u0;
Derivs[21] = Derivs[21] / u0 - 1;
double Lb = Derivs[16] * factor_invxz;
double Nb = Derivs[17] * factor_invxz;
double Lp = Derivs[19] * factor_invxz;
double Np = Derivs[20] * factor_invxz;
double Lr = Derivs[22] * factor_invxz;
double Nr = Derivs[23] * factor_invxz;
Derivs[16] = Lb + factor_xz_x * Nb;
Derivs[17] = Nb + factor_xz_z * Lb;
Derivs[19] = Lp + factor_xz_x * Np;
Derivs[20] = Np + factor_xz_z * Lp;
Derivs[22] = Lr + factor_xz_x * Nr;
Derivs[23] = Nr + factor_xz_z * Lr;
for (int k = 15; k < Derivs.Length; k++)
{
double f = Derivs[k];
if (i <= 2)
{
FARLogger.Info("A[" + i + "," + j + "]= f_" + k + " = " + f + ", after manipulation.");
A.Add(f, i, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(effg / u0, 3, 0);
A.Add(1, 1, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Yb / u0 , Yp / u0 , -(1 - Yr/ u0) , g Cos(θ0) / u0 ]
* | [ Lb , Lp , Lr , 0 ]
* | [ Nb , Np , Nr , 0 ]
* \ / [ 0 , 1 , 0 , 0 ]
* V
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "β", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "p", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "r", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "φ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
private List <MeshData> CreateMeshListFromTransforms(ref List <Transform> meshTransforms)
{
DebugClear();
List <MeshData> meshList = new List <MeshData>();
List <Transform> validTransformList = new List <Transform>();
if (part.Modules.Contains <KerbalEVA>() || part.Modules.Contains <FlagSite>())
{
FARLogger.Info("Adding vox box to Kerbal / Flag");
meshList.Add(CreateBoxMeshForKerbalEVA());
validTransformList.Add(part.partTransform);
meshTransforms = validTransformList;
return(meshList);
}
var worldToLocalMatrix = part.partTransform.worldToLocalMatrix;
var rendererBounds = part.GetPartOverallMeshBoundsInBasis(worldToLocalMatrix);
var colliderBounds = part.GetPartColliderBoundsInBasis(worldToLocalMatrix);
bool cantUseColliders = true;
bool isFairing = part.Modules.Contains <ModuleProceduralFairing>() || part.Modules.Contains("ProceduralFairingSide");
bool isDrill = part.Modules.Contains <ModuleAsteroidDrill>() || part.Modules.Contains <ModuleResourceHarvester>();
//Voxelize colliders
if ((forceUseColliders || isFairing || isDrill || (rendererBounds.size.x * rendererBounds.size.z < colliderBounds.size.x * colliderBounds.size.z * 1.6f && rendererBounds.size.y < colliderBounds.size.y * 1.2f && (rendererBounds.center - colliderBounds.center).magnitude < 0.3f)) && !forceUseMeshes)
{
foreach (Transform t in meshTransforms)
{
MeshData md = GetColliderMeshData(t);
if (md == null)
{
continue;
}
DebugAddCollider(t);
meshList.Add(md);
validTransformList.Add(t);
cantUseColliders = false;
}
}
if (part.Modules.Contains <ModuleJettison>())
{
bool variants = part.Modules.Contains <ModulePartVariants>();
List <ModuleJettison> jettisons = part.Modules.GetModules <ModuleJettison>();
HashSet <string> jettisonTransforms = new HashSet <string>();
for (int i = 0; i < jettisons.Count; i++)
{
ModuleJettison j = jettisons[i];
if (j.jettisonTransform == null)
{
continue;
}
if (variants)
{
// with part variants, jettison name is a comma separated list of transform names
foreach (string name in j.jettisonName.Split(','))
{
jettisonTransforms.Add(name);
}
}
else
{
jettisonTransforms.Add(j.jettisonTransform.name);
}
if (j.isJettisoned)
{
continue;
}
Transform t = j.jettisonTransform;
if (t.gameObject.activeInHierarchy == false)
{
continue;
}
MeshData md = GetVisibleMeshData(t, ignoreIfNoRenderer, false);
if (md == null)
{
continue;
}
DebugAddMesh(t);
meshList.Add(md);
validTransformList.Add(t);
}
//Voxelize Everything
if ((cantUseColliders || forceUseMeshes || isFairing) && !isDrill) //in this case, voxelize _everything_
{
foreach (Transform t in meshTransforms)
{
if (jettisonTransforms.Contains(t.name))
{
continue;
}
MeshData md = GetVisibleMeshData(t, ignoreIfNoRenderer, false);
if (md == null)
{
continue;
}
DebugAddMesh(t);
meshList.Add(md);
validTransformList.Add(t);
}
}
}
else
{
//Voxelize Everything
if ((cantUseColliders || forceUseMeshes || isFairing) && !isDrill) //in this case, voxelize _everything_
{
foreach (Transform t in meshTransforms)
{
MeshData md = GetVisibleMeshData(t, ignoreIfNoRenderer, false);
if (md == null)
{
continue;
}
DebugAddMesh(t);
meshList.Add(md);
validTransformList.Add(t);
}
}
}
DebugPrint();
meshTransforms = validTransformList;
return(meshList);
}
public IEnumerator Load()
{
// wait for the other loading to be done
if (State == Progress.InProgress)
{
yield return(new WaitWhile(() => State == Progress.InProgress));
yield break;
}
State = Progress.InProgress;
// wait for config to be loaded fully
while (FARConfig.IsLoading)
{
yield return(null);
}
NeedsReload = false;
string path = Url;
FARLogger.DebugFormat("Loading asset bundle from {0}", path);
AssetBundleCreateRequest createRequest = AssetBundle.LoadFromFileAsync(path);
yield return(createRequest);
AssetBundle assetBundle = createRequest.assetBundle;
if (assetBundle == null)
{
FARLogger.Error($"Could not load asset bundle from {path}");
State = Progress.Error;
yield break;
}
AssetBundleRequest loadRequest = assetBundle.LoadAllAssetsAsync <T>();
yield return(loadRequest);
LoadedAssets.Clear();
foreach (Object asset in loadRequest.allAssets)
{
if (!LoadedAssets.ContainsKey(asset.name))
{
if (asset is T t)
{
LoadedAssets.Add(asset.name, t);
}
else
{
FARLogger
.Warning($"Invalid asset type {asset.GetType().ToString()}, expected {typeof(T).ToString()}");
}
}
else
{
FARLogger.DebugFormat("Asset {0} is duplicated", asset);
}
}
FARLogger.DebugFormat("Completed loading assets from {0}", path);
State = Progress.Completed;
}
public void PredictionCalculateAeroForces(float atmDensity, float machNumber, float reynoldsPerUnitLength, float pseudoKnudsenNumber, float skinFrictionDrag, Vector3 vel, ferram4.FARCenterQuery center)
{
if (partData.Count == 0)
{
return;
}
PartData data = partData[0];
FARAeroPartModule aeroModule = null;
for (int i = 0; i < partData.Count; i++)
{
data = partData[i];
aeroModule = data.aeroModule;
if (aeroModule.part == null || aeroModule.part.partTransform == null)
{
continue;
}
break;
}
if (aeroModule.part == null || aeroModule.part.transform == null)
{
return;
}
double skinFrictionForce = skinFrictionDrag * xForceSkinFriction.Evaluate(machNumber); //this will be the same for each part, so why recalc it multiple times?
double xForceAoA0 = xForcePressureAoA0.Evaluate(machNumber);
double xForceAoA180 = xForcePressureAoA180.Evaluate(machNumber);
Vector3 xRefVector = data.xRefVectorPartSpace;
Vector3 nRefVector = data.nRefVectorPartSpace;
Vector3 velLocal = aeroModule.part.partTransform.worldToLocalMatrix.MultiplyVector(vel);
Vector3 angVelLocal = aeroModule.partLocalAngVel;
//Vector3 angVelLocal = aeroModule.partLocalAngVel;
//velLocal += Vector3.Cross(angVelLocal, data.centroidPartSpace); //some transform issue here, needs investigation
Vector3 velLocalNorm = velLocal.normalized;
Vector3 localNormalForceVec = Vector3.ProjectOnPlane(-velLocalNorm, xRefVector).normalized;
double cosAoA = Vector3.Dot(xRefVector, velLocalNorm);
double cosSqrAoA = cosAoA * cosAoA;
double sinSqrAoA = Math.Max(1 - cosSqrAoA, 0);
double sinAoA = Math.Sqrt(sinSqrAoA);
double sin2AoA = 2 * sinAoA * Math.Abs(cosAoA);
double cosHalfAoA = Math.Sqrt(0.5 + 0.5 * Math.Abs(cosAoA));
double nForce = 0;
nForce = potentialFlowNormalForce * Math.Sign(cosAoA) * cosHalfAoA * sin2AoA; //potential flow normal force
if (nForce < 0) //potential flow is not significant over the rear face of things
{
nForce = 0;
}
//if (machNumber > 3)
// nForce *= 2d - machNumber * 0.3333333333333333d;
float normalForceFactor = Math.Abs(Vector3.Dot(localNormalForceVec, nRefVector));
normalForceFactor *= normalForceFactor;
normalForceFactor = invFlatnessRatio * (1 - normalForceFactor) + flatnessRatio * normalForceFactor; //accounts for changes in relative flatness of shape
float crossFlowMach, crossFlowReynolds;
crossFlowMach = machNumber * (float)sinAoA;
crossFlowReynolds = reynoldsPerUnitLength * diameter * (float)sinAoA / normalForceFactor;
nForce += viscCrossflowDrag * sinSqrAoA * CalculateCrossFlowDrag(crossFlowMach, crossFlowReynolds); //viscous crossflow normal force
nForce *= normalForceFactor;
double xForce = -skinFrictionForce *Math.Sign(cosAoA) * cosSqrAoA;
double localVelForce = xForce * pseudoKnudsenNumber;
xForce -= localVelForce;
localVelForce = Math.Abs(localVelForce);
float moment = (float)(cosAoA * sinAoA);
float dampingMoment = 4f * moment;
if (cosAoA > 0)
{
xForce += cosSqrAoA * xForceAoA0;
float momentFactor;
if (machNumber > 6)
{
momentFactor = hypersonicMomentForward;
}
else if (machNumber < 0.6)
{
momentFactor = 0.6f * hypersonicMomentBackward;
}
else
{
float tmp = (-0.185185185f * machNumber + 1.11111111111f);
momentFactor = tmp * hypersonicMomentBackward * 0.6f + (1 - tmp) * hypersonicMomentForward;
}
//if (machNumber < 1.5)
// momentFactor += hypersonicMomentBackward * (0.5f - machNumber * 0.33333333333333333333333333333333f) * 0.2f;
moment *= momentFactor;
dampingMoment *= momentFactor;
}
else
{
xForce += cosSqrAoA * xForceAoA180;
float momentFactor; //negative to deal with the ref vector facing the opposite direction, causing the moment vector to point in the opposite direction
if (machNumber > 6)
{
momentFactor = hypersonicMomentBackward;
}
else if (machNumber < 0.6)
{
momentFactor = 0.6f * hypersonicMomentForward;
}
else
{
float tmp = (-0.185185185f * machNumber + 1.11111111111f);
momentFactor = tmp * hypersonicMomentForward * 0.6f + (1 - tmp) * hypersonicMomentBackward;
}
//if (machNumber < 1.5)
// momentFactor += hypersonicMomentForward * (0.5f - machNumber * 0.33333333333333333333333333333333f) * 0.2f;
moment *= momentFactor;
dampingMoment *= momentFactor;
}
moment /= normalForceFactor;
dampingMoment = Math.Abs(dampingMoment) * 0.1f;
//dampingMoment += (float)Math.Abs(skinFrictionForce) * 0.1f;
float rollDampingMoment = (float)(skinFrictionForce * 0.5 * diameter); //skin friction force times avg moment arm for vehicle
rollDampingMoment *= (0.75f + flatnessRatio * 0.25f); //this is just an approximation for now
Vector3 forceVector = (float)xForce * xRefVector + (float)nForce * localNormalForceVec;
forceVector -= (float)localVelForce * velLocalNorm;
Vector3 torqueVector = Vector3.Cross(xRefVector, localNormalForceVec) * moment;
Vector3 axialAngLocalVel = Vector3.Dot(xRefVector, angVelLocal) * xRefVector;
Vector3 nonAxialAngLocalVel = angVelLocal - axialAngLocalVel;
if (velLocal.sqrMagnitude > 0.001f)
{
torqueVector -= (dampingMoment * nonAxialAngLocalVel) + (rollDampingMoment * axialAngLocalVel * axialAngLocalVel.magnitude) / velLocal.sqrMagnitude;
}
else
{
torqueVector -= (dampingMoment * nonAxialAngLocalVel) + (rollDampingMoment * axialAngLocalVel * axialAngLocalVel.magnitude) / 0.001f;
}
Matrix4x4 localToWorld = aeroModule.part.partTransform.localToWorldMatrix;
float dynPresAndScaling = 0.0005f * atmDensity * velLocal.sqrMagnitude; //dyn pres and N -> kN conversion
forceVector *= dynPresAndScaling;
torqueVector *= dynPresAndScaling;
forceVector = localToWorld.MultiplyVector(forceVector);
torqueVector = localToWorld.MultiplyVector(torqueVector);
Vector3 centroid = Vector3.zero;
if (!float.IsNaN(forceVector.x) && !float.IsNaN(torqueVector.x))
{
for (int i = 0; i < partData.Count; i++)
{
PartData data2 = partData[i];
FARAeroPartModule module = data2.aeroModule;
if ((object)module == null)
{
continue;
}
if (module.part == null || module.part.partTransform == null)
{
continue;
}
centroid = module.part.partTransform.localToWorldMatrix.MultiplyPoint3x4(data2.centroidPartSpace);
center.AddForce(centroid, forceVector * data2.dragFactor);
}
center.AddTorque(torqueVector);
}
else
{
FARLogger.Error("NaN Prediction Section Error: Inputs: AtmDen: " + atmDensity + " Mach: " + machNumber + " Re: " + reynoldsPerUnitLength + " Kn: " + pseudoKnudsenNumber + " skin: " + skinFrictionDrag + " vel: " + vel);
}
}
public static GraphData RunTransientSimLongitudinal(
StabilityDerivOutput vehicleData,
double endTime,
double initDt,
double[] InitCond
)
{
var A = new SimMatrix(4, 4);
var B = new SimMatrix(1, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
foreach (double f in vehicleData.stabDerivs)
{
if (num < 3 || num >= 15)
{
num++; //Avoid Ix, Iy, Iz
continue;
}
num++;
FARLogger.Info(i + "," + j);
if (i <= 2)
{
if (num == 10)
{
A.Add(f + vehicleData.nominalVelocity, i, j);
}
else
{
A.Add(f, i, j);
}
}
else
{
B.Add(f, 0, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(-InstantConditionSim.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude), 3, 1);
A.Add(1, 2, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Z w , Z u , Z q + u, 0 ]
* | [ X w , X u , X q , -g ]
* | [ M w , M u , M q , 0 ]
* \ / [ 0 , 0 , 1 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
var transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
var lines = new GraphData {
xValues = transSolve.time
};
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "w", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "u", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "q", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "θ", true);
return(lines);
}
private void SetupMainThread()
{
_mainThread = Thread.CurrentThread;
FARLogger.Debug("Main thread: " + _mainThread.Name);
}
private int Apply(ref object owner, NodeVisitor visitor)
{
int count = 0;
FARLogger.TraceFormat("Applying visitor to config node {0}[{1}]", Id, Name ?? "{null}");
foreach (ValueReflection value in Values)
{
FARLogger.TraceFormat("Visiting value {0}[{1}].{2}", Id, Name, value.Name);
try
{
visitor.VisitValue(owner, value);
}
catch (Exception e)
{
FARLogger.ExceptionFormat(e, "Exception loading value {0} in {1}", value.Name, value.DeclaringType);
count++;
}
}
foreach (ListValueReflection reflection in ListValues)
{
if (reflection.IsNodeValue)
{
NodeReflection nodeReflection = GetReflection(reflection.ValueType);
FARLogger.TraceFormat("Visiting list nodes {0}[{1}].{2}[{3}]",
Id,
Name ?? "{null}",
reflection.NodeId,
reflection.Name ?? "{null}");
try
{
visitor.VisitNodeList(owner, reflection, nodeReflection);
}
catch (Exception e)
{
FARLogger.ExceptionFormat(e,
"Exception loading node ({2}) list {0} in {1}",
reflection.Name,
reflection.DeclaringType,
reflection.NodeId);
count++;
}
}
else
{
FARLogger.TraceFormat("Visiting list values {0}[{1}].{2}", Id, Name ?? "{null}", reflection.Name);
try
{
visitor.VisitValueList(owner, reflection);
}
catch (Exception e)
{
FARLogger.ExceptionFormat(e,
"Exception loading value list {0} in {1}",
reflection.Name,
reflection.DeclaringType);
count++;
}
}
}
foreach (NodeReflection node in Nodes)
{
FARLogger.TraceFormat("Visiting subnode {0}[{1}].{2}[{3}]",
Id,
Name ?? "{null}",
node.Id,
node.Name ?? "{null}");
try
{
visitor.VisitNode(owner, node);
}
catch (Exception e)
{
FARLogger.ExceptionFormat(e,
"Exception loading node {2}[{0}] in {1}",
node.Name,
node.DeclaringType,
node.Id);
count++;
}
}
return(count);
}