override public void afterOnFixedUpdate()
{
if (!this.isExecuted() && this.isStarted() && startTime == 0f)
{
startTime = Time.time;
}
if (!this.isExecuted() && this.isStarted() && startTime > 0)
{
spendTime = initTime - (int)(Math.Round(Time.time - startTime));
if (spendTime <= 0)
{
if (!this.saved)
{
//Wait 5s before save so FlightsGlobals are clear to save
this.scriptModule.setActiveSavepoint(this.actionIndex);
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
QuickSaveLoad.QuickSave();
}
this.saved = true;
startTime = Time.time;
}
else
{
//Then wait 5s after save to let the time to save
this.endAction();
}
}
}
}
public bool isSwitchAllowed(Vessel target)
{
if (FlightGlobals.ActiveVessel == target)
{
errorMsg = "This is the active vessel.";
return(false);
}
if (MapView.MapIsEnabled)
{
errorMsg = "Can't switch while in map.";
return(false);
}
if (InputLockManager.IsLocked(ControlTypes.VESSEL_SWITCHING))
{
errorMsg = "Switching is disabled.";
return(false);
}
if (target.packed && FlightGlobals.ClearToSave() != ClearToSaveStatus.CLEAR)
{
errorMsg = "Game states forbids switching.";
return(false);
}
errorMsg = null;
return(true);
}
public void StopSpectating()
{
VesselCommon.IsSpectating = false;
//Unlock all vessel controls
InputLockManager.RemoveControlLock(SpectateLock);
if (LockSystem.LockQuery.SpectatorLockExists(SettingsSystem.CurrentSettings.PlayerName))
{
LockSystem.Singleton.ReleaseSpectatorLock();
}
//We are not spectating anymore so try to get as many unloaded update locks as possible
foreach (var vessel in FlightGlobals.Vessels)
{
if (!LockSystem.LockQuery.UnloadedUpdateLockExists(vessel.id))
{
LockSystem.Singleton.AcquireUnloadedUpdateLock(vessel.id);
}
}
if (HighLogic.CurrentGame?.Parameters?.Flight != null)
{
HighLogic.CurrentGame.Parameters.Flight.CanEVA = true;
}
if (PauseMenu.exists && PauseMenu.isOpen)
{
PauseMenu.canSaveAndExit = FlightGlobals.ClearToSave();
}
SpectateEvent.onFinishedSpectating.Fire();
}
public BooleanValue CanQuicksave()
{
if (HighLogic.CurrentGame.Parameters.Flight.CanQuickSave && FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
return(true);
}
return(false);
}
bool can_restore()
{
//if hangar is not ready, return
if (hangar_state == HangarState.Inactive)
{
ScreenMessager.showMessage("Activate the hangar first", 3);
return(false);
}
if (hangar_gates.State != AnimatorState.Opened)
{
ScreenMessager.showMessage("Open hangar gates first", 3);
return(false);
}
//if something is docked to the hangar docking port (if its present)
ModuleDockingNode dport = part.Modules.OfType <ModuleDockingNode>().SingleOrDefault();
if (dport != null && dport.vesselInfo != null)
{
ScreenMessager.showMessage("Cannot launch a vessel while another is docked", 3);
return(false);
}
//if in orbit or on the ground and not moving
switch (FlightGlobals.ClearToSave())
{
case ClearToSaveStatus.NOT_IN_ATMOSPHERE:
{
ScreenMessager.showMessage("Cannot launch a vessel while flying in atmosphere", 3);
return(false);
}
case ClearToSaveStatus.NOT_UNDER_ACCELERATION:
{
ScreenMessager.showMessage("Cannot launch a vessel hangar is under accelleration", 3);
return(false);
}
case ClearToSaveStatus.NOT_WHILE_ABOUT_TO_CRASH:
{
ScreenMessager.showMessage("Cannot launch a vessel while about to crush", 3);
return(false);
}
case ClearToSaveStatus.NOT_WHILE_MOVING_OVER_SURFACE:
{
ScreenMessager.showMessage("Cannot launch a vessel while moving over the surface", 3);
return(false);
}
}
if (vessel.angularVelocity.magnitude > 0.003)
{
ScreenMessager.showMessage("Cannot launch a vessel while rotating", 3);
return(false);
}
return(true);
}
IEnumerator tryExit()
{
if (needToSavegame)
{
if (CanSavegame)
{
if (GamePersistence.SaveGame("persistent", HighLogic.SaveFolder, SaveMode.OVERWRITE) != string.Empty)
{
saveDone = true;
ScreenMessages.PostScreenMessage(Localizer.Format("quickexit_gameSaved", RegisterToolbar.MOD), 5);
Log("Game saved.", "QExit");
}
else
{
count = 10;
Log("Can't save game.", "QExit");
ScreenMessages.PostScreenMessage(Localizer.Format("quickexit_cantSave", RegisterToolbar.MOD), 10);
}
if (HighLogic.LoadedSceneIsEditor)
{
List <Part> parts = EditorLogic.fetch.ship != null ? EditorLogic.fetch.ship.Parts : new List <Part>();
if (parts.Count > 0)
{
ShipConstruction.SaveShip(shipFilename);
Log("Ship saved.", "QExit");
ScreenMessages.PostScreenMessage(Localizer.Format("quickexit_shipSaved", RegisterToolbar.MOD), 5);
}
}
}
else
{
count = 10;
ClearToSaveStatus clearToSaveStatus = FlightGlobals.ClearToSave();
string _status = FlightGlobals.GetNotClearToSaveStatusReason(clearToSaveStatus, string.Empty);
Log("Can't game saved: " + _status, "QExit");
ScreenMessages.PostScreenMessage(Localizer.Format("quickexit_cantSave", RegisterToolbar.MOD) + ": " + _status, 10);
}
}
while (count >= 0)
{
yield return(new WaitForSecondsRealtime(1f));
Log("Exit in " + count, "QExit");
count--;
}
if (!IsTryExit)
{
Log("tryExit stopped", "QExit");
yield break;
}
Application.Quit();
Log("tryExit ended", "QExit");
}
private void SaveGame(string name)
{
if (HighLogic.CurrentGame.Parameters.Flight.CanQuickSave && FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
var game = HighLogic.CurrentGame.Updated();
game.startScene = GameScenes.FLIGHT;
GamePersistence.SaveGame(game, name, HighLogic.SaveFolder, SaveMode.OVERWRITE);
game.startScene = GameScenes.SPACECENTER;
}
else
{
throw new KOSException("KSP prevents using quicksave currently.");
}
}
IEnumerator tryExit()
{
if (needToSavegame)
{
if (CanSavegame)
{
if (GamePersistence.SaveGame("persistent", HighLogic.SaveFolder, SaveMode.OVERWRITE) != string.Empty)
{
saveDone = true;
ScreenMessages.PostScreenMessage(string.Format("[{0}] Game saved.", MOD), 5);
Log("Game saved.", "QExit");
}
else
{
count = 10;
Log("Can't save game.", "QExit");
ScreenMessages.PostScreenMessage(string.Format("[{0}] Can't save game.", MOD), 10);
}
if (HighLogic.LoadedSceneIsEditor)
{
ShipConstruction.SaveShip(shipFilename);
Log("Ship saved.", "QExit");
ScreenMessages.PostScreenMessage(string.Format("[{0}] Ship saved.", MOD), 5);
}
}
else
{
count = 10;
ClearToSaveStatus clearToSaveStatus = FlightGlobals.ClearToSave();
string _status = FlightGlobals.GetNotClearToSaveStatusReason(clearToSaveStatus, string.Empty);
Log("Can't game saved: " + _status, "QExit");
ScreenMessages.PostScreenMessage(string.Format("[{0}] Can't save game: {1}", MOD, _status.ToString()), 10);
}
}
while (count >= 0)
{
yield return(new WaitForSecondsRealtime(1f));
Log("Exit in " + count, "QExit");
count--;
}
if (!IsTryExit)
{
Log("tryExit stopped", "QExit");
yield break;
}
Application.Quit();
Log("tryExit ended", "QExit");
}
IEnumerator tryExit()
{
Log.Info("tryExit");
if (CanSavegame)
{
if (GamePersistence.SaveGame("persistent", HighLogic.SaveFolder, SaveMode.OVERWRITE) != string.Empty)
{
//saveDone = true;
ScreenMessages.PostScreenMessage(Localizer.Format("pm_gameSaved", MOD), 5);
MyLog("Game saved.", "QExit");
}
else
{
count = 10;
MyLog("Can't save game.", "QExit");
ScreenMessages.PostScreenMessage(Localizer.Format("pm_cantSave", MOD), 10);
}
}
else
{
count = 10;
ClearToSaveStatus clearToSaveStatus = FlightGlobals.ClearToSave();
string _status = FlightGlobals.GetNotClearToSaveStatusReason(clearToSaveStatus, string.Empty);
MyLog("Can't game saved: " + _status, "QExit");
ScreenMessages.PostScreenMessage(Localizer.Format("pm_cantSave", MOD) + ": " + _status, 10);
}
while (count >= 0)
{
yield return(new WaitForSecondsRealtime(1f));
MyLog("Exit in " + count, "QExit");
count--;
}
Log.Info("tryExit, ready to exit");
if (!IsTryExit)
{
MyLog("tryExit stopped", "QExit");
yield break;
}
Log.Info("tryExit, before ApplicationQuit");
Application.Quit();
MyLog("tryExit ended", "QExit");
}
private void StartSimulation()
{
if (FlightDriver.PreLaunchState == null)
{
GameEvents.onGameAboutToQuicksave.Fire();
Game game = HighLogic.CurrentGame.Updated();
game.startScene = GameScenes.FLIGHT;
GamePersistence.SaveGame(game, "simulation", HighLogic.SaveFolder, SaveMode.BACKUP);
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
GamePersistence.SaveGame(game, "persistent", HighLogic.SaveFolder, SaveMode.OVERWRITE);
Debug.Log($"[QuickIronMan]({name}) It's clear, I save your game");
}
Debug.Log($"[QuickIronMan]({name}) Backup simulation");
}
sim.SetSimulation(true);
}
/// <summary>
/// Checks if a vessel can be stored in the hangar right now.
/// </summary>
/// <param name="vsl">A vessel to check</param>
bool can_store(Vessel vsl)
{
if (vsl == null || vsl == vessel || !vsl.enabled || vsl.isEVA)
{
return(false);
}
//if hangar is not ready, return
if (hangar_state == HangarState.Inactive)
{
ScreenMessager.showMessage("Activate the hangar first", 3);
return(false);
}
//check self state first
switch (FlightGlobals.ClearToSave())
{
case ClearToSaveStatus.NOT_WHILE_ABOUT_TO_CRASH:
{
ScreenMessager.showMessage("Cannot accept the vessel while about to crush", 3);
return(false);
}
}
//always check relative velocity and acceleration
Vector3 rv = vessel.GetObtVelocity() - vsl.GetObtVelocity();
if (rv.magnitude > 1f)
{
ScreenMessager.showMessage("Cannot accept a vessel with a relative speed higher than 1m/s", 3);
return(false);
}
Vector3 ra = vessel.acceleration - vsl.acceleration;
if (ra.magnitude > 0.1)
{
ScreenMessager.showMessage("Cannot accept an accelerating vessel", 3);
return(false);
}
return(true);
}
public override void Drive(FlightCtrlState s) // TODO put the brake in when running out of power to prevent nighttime solar failures on hills, or atleast try to
{ // TODO make distance calculation for 'reached' determination consider the rover and waypoint on sealevel to prevent height differences from messing it up -- should be done now?
if (orbit.referenceBody != lastBody)
{
WaypointIndex = -1; Waypoints.Clear();
}
MechJebWaypoint wp = (WaypointIndex > -1 && WaypointIndex < Waypoints.Count ? Waypoints[WaypointIndex] : null);
var brake = vessel.ActionGroups[KSPActionGroup.Brakes]; // keep brakes locked if they are
curSpeed = Vector3d.Dot(vessel.srf_velocity, vesselState.forward);
CalculateTraction();
speedIntAcc = speedPID.intAccum;
if (wp != null && wp.Body == orbit.referenceBody)
{
if (ControlHeading)
{
heading = Math.Round(HeadingToPos(vessel.CoM, wp.Position), 1);
}
if (ControlSpeed)
{
var nextWP = (WaypointIndex < Waypoints.Count - 1 ? Waypoints[WaypointIndex + 1] : (LoopWaypoints ? Waypoints[0] : null));
var distance = Vector3.Distance(vessel.CoM, wp.Position);
if (wp.Target != null)
{
distance += (float)(wp.Target.srfSpeed * curSpeed) / 2;
}
//var maxSpeed = (wp.MaxSpeed > 0 ? Math.Min((float)speed, wp.MaxSpeed) : speed); // use waypoints maxSpeed if set and smaller than set the speed or just stick with the set speed
var maxSpeed = (wp.MaxSpeed > 0 ? wp.MaxSpeed : speed); // speed used to go towards the waypoint, using the waypoints maxSpeed if set or just stick with the set speed
var minSpeed = (wp.MinSpeed > 0 ? wp.MinSpeed :
(nextWP != null ? TurningSpeed((nextWP.MaxSpeed > 0 ? nextWP.MaxSpeed : speed), heading - HeadingToPos(wp.Position, nextWP.Position)) :
(distance - wp.Radius > 50 ? turnSpeed.val : 1)));
minSpeed = (wp.Quicksave ? 1 : minSpeed);
// ^ speed used to go through the waypoint, using half the set speed or maxSpeed as minSpeed for routing waypoints (all except the last)
var brakeFactor = Math.Max((curSpeed - minSpeed) * 1, 3);
var newSpeed = Math.Min(maxSpeed, Math.Max((distance - wp.Radius) / brakeFactor, minSpeed)); // brake when getting closer
newSpeed = (newSpeed > turnSpeed ? TurningSpeed(newSpeed, headingErr) : newSpeed); // reduce speed when turning a lot
if (LimitAcceleration)
{
newSpeed = curSpeed + Mathf.Clamp((float)(newSpeed - curSpeed), -1.5f, 0.5f);
}
// newSpeed = tgtSpeed + Mathf.Clamp((float)(newSpeed - tgtSpeed), -Time.deltaTime * 8f, Time.deltaTime * 2f);
var radius = Math.Max(wp.Radius, 10);
if (distance < radius)
{
if (WaypointIndex + 1 >= Waypoints.Count) // last waypoint
{
newSpeed = new [] { newSpeed, (distance < radius * 0.8 ? 0 : 1) }.Min();
// ^ limit speed so it'll only go from 1m/s to full stop when braking to prevent accidents on moons
if (LoopWaypoints)
{
WaypointIndex = 0;
}
else
{
newSpeed = 0;
// tgtSpeed.force(newSpeed);
if (curSpeed < brakeSpeedLimit)
{
if (wp.Quicksave)
{
//if (s.mainThrottle > 0) { s.mainThrottle = 0; }
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
QuickSaveLoad.QuickSave();
}
}
else
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
}
}
// else {
// Debug.Log("Is this even getting called?");
// WaypointIndex++;
// }
}
}
else
{
if (wp.Quicksave)
{
//if (s.mainThrottle > 0) { s.mainThrottle = 0; }
newSpeed = 0;
// tgtSpeed.force(newSpeed);
if (curSpeed < brakeSpeedLimit)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex++;
QuickSaveLoad.QuickSave();
}
}
}
else
{
WaypointIndex++;
}
}
}
brake = brake || ((s.wheelThrottle == 0 || !vessel.isActiveVessel) && curSpeed < brakeSpeedLimit && newSpeed < brakeSpeedLimit);
// ^ brake if needed to prevent rolling, hopefully
tgtSpeed = (newSpeed >= 0 ? newSpeed : 0);
}
}
if (ControlHeading)
{
headingPID.intAccum = Mathf.Clamp((float)headingPID.intAccum, -1, 1);
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim || FlightGlobals.ActiveVessel != vessel)
{
float spd = Mathf.Min((float)speed, (float)turnSpeed); // if a slower speed than the turnspeed is used also be more careful with the steering
float limit = (Mathf.Abs((float)curSpeed) <= turnSpeed ? 1 : Mathf.Clamp((float)(spd / Mathf.Abs((float)curSpeed)), 0.35f, 1f));
double act = headingPID.Compute(headingErr);
s.wheelSteer = Mathf.Clamp((float)act, -limit, limit);
}
}
// Brake if there is no controler (Pilot eject from seat)
if (BrakeOnEject && vessel.GetReferenceTransformPart() == null)
{
s.wheelThrottle = 0;
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
brake = true;
}
else if (ControlSpeed)
{
speedPID.intAccum = Mathf.Clamp((float)speedPID.intAccum, -5, 5);
speedErr = (WaypointIndex == -1 ? speed.val : tgtSpeed) - Vector3d.Dot(vessel.srf_velocity, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim || FlightGlobals.ActiveVessel != vessel)
{
float act = (float)speedPID.Compute(speedErr);
s.wheelThrottle = !LimitAcceleration?Mathf.Clamp((float)act, -1, 1) : // I think I'm using these ( ? : ) a bit too much
(traction == 0 ? 0 : (act < 0 ? Mathf.Clamp(act, -1f, 1f) : (lastThrottle + Mathf.Clamp(act - lastThrottle, -0.005f, 0.005f)) * (traction < tractionLimit ? -1 : 1)));
if (curSpeed < 0 & s.wheelThrottle < 0)
{
s.wheelThrottle = 0;
} // don't go backwards
// if (Mathf.Sign(act) + Mathf.Sign(s.wheelThrottle) == 0) { s.wheelThrottle = Mathf.Clamp(act, -1f, 1f); }
if (speedErr < -1 && StabilityControl && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) == 0) // StabilityControl && traction > 50 &&
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
{
brake = true;
}
// else if (!stabilityControl || traction <= 50 || speedErr > -0.2 || Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0) {
// vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, (GameSettings.BRAKES.GetKey() && vessel.isActiveVessel));
// }
lastThrottle = s.wheelThrottle;
}
}
if (StabilityControl)
{
if (!core.attitude.users.Contains(this))
{
core.attitude.users.Add(this);
// line.enabled = true;
}
// float scale = Vector3.Distance(FlightCamera.fetch.mainCamera.transform.position, vessel.CoM) / 900f;
// line.SetPosition(0, vessel.CoM);
// line.SetPosition(1, vessel.CoM + hit.normal * 5);
// line.SetWidth(0, scale + 0.1f);
var fSpeed = (float)curSpeed;
// if (Mathf.Abs(fSpeed) >= turnSpeed * 0.75) {
Vector3 fwd = (Vector3)(traction > 0 ? // V when the speed is low go for the vessels forward, else with a bit of velocity
// ((Mathf.Abs(fSpeed) <= turnSpeed ? vesselState.forward : vessel.srf_velocity / 4) - vessel.transform.right * s.wheelSteer) * Mathf.Sign(fSpeed) :
// // ^ and then add the steering
vesselState.forward * 4 - vessel.transform.right * s.wheelSteer * Mathf.Sign(fSpeed) : // and then add the steering
vessel.srf_velocity); // in the air so follow velocity
Vector3.OrthoNormalize(ref norm, ref fwd);
var quat = Quaternion.LookRotation(fwd, norm);
// if (traction > 0 || speed <= turnSpeed) {
// var u = new Vector3(0, 1, 0);
//
// var q = FlightGlobals.ship_rotation;
// var q_s = quat;
//
// var q_u = new Quaternion(u.x, u.y, u.z, 0);
// var a = Quaternion.Dot(q, q_s * q_u);
// var q_qs = Quaternion.Dot(q, q_s);
// var b = (a == 0) ? Math.Sign(q_qs) : (q_qs / a);
// var g = b / Mathf.Sqrt((b * b) + 1);
// var gu = Mathf.Sqrt(1 - (g * g)) * u;
// var q_d = new Quaternion() { w = g, x = gu.x, y = gu.y, z = gu.z };
// var n = q_s * q_d;
//
// quat = n;
// }
core.attitude.attitudeTo(quat, AttitudeReference.INERTIAL, this);
// }
}
if (BrakeOnEnergyDepletion)
{
var batteries = vessel.Parts.FindAll(p => p.Resources.Contains("ElectricCharge") && p.Resources["ElectricCharge"].flowState);
var energyLeft = batteries.Sum(p => p.Resources["ElectricCharge"].amount) / batteries.Sum(p => p.Resources["ElectricCharge"].maxAmount);
var openSolars = vessel.mainBody.atmosphere && // true if in atmosphere and there are breakable solarpanels that aren't broken nor retracted
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable && p.panelState != ModuleDeployableSolarPanel.panelStates.BROKEN &&
p.panelState != ModuleDeployableSolarPanel.panelStates.RETRACTED).Count > 0;
if (openSolars && energyLeft > 0.99)
{
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable &&
p.panelState == ModuleDeployableSolarPanel.panelStates.EXTENDED).ForEach(p => p.Retract());
}
if (energyLeft < 0.05 && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0)
{
s.wheelThrottle = 0;
} // save remaining energy by not using it for acceleration
if (openSolars || energyLeft < 0.03)
{
tgtSpeed = 0;
}
if (curSpeed < brakeSpeedLimit && (energyLeft < 0.05 || openSolars))
{
brake = true;
}
if (curSpeed < 0.1 && energyLeft < 0.05 && !waitingForDaylight &&
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.panelState == ModuleDeployableSolarPanel.panelStates.EXTENDED).Count > 0)
{
waitingForDaylight = true;
}
}
// brake = brake && (s.wheelThrottle == 0); // release brake if the user or AP want to drive
if (s.wheelThrottle != 0 && Mathf.Sign(s.wheelThrottle) + Mathf.Sign((float)curSpeed) != 0)
{
brake = false; // the AP or user want to drive into the direction of momentum so release the brake
}
if (vessel.isActiveVessel)
{
if (GameSettings.BRAKES.GetKeyUp())
{
brake = false; // release the brakes if the user lets go of them
}
if (GameSettings.BRAKES.GetKey())
{
brake = true; // brake if the user brakes and we aren't about to flip
}
}
tractionLimit = (double)Mathf.Clamp((float)tractionLimit, 0, 100);
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, brake && (StabilityControl && curSpeed > brakeSpeedLimit ? traction >= tractionLimit : true));
// ^ brake but hopefully prevent flipping over, assuming the user set up the limit right
if (brake && curSpeed < 0.1)
{
s.wheelThrottle = 0;
}
}
private void Update()
{
//destroy the old one
VesselSwitching vesselSwitching = UnityEngine.Object.FindObjectOfType <VesselSwitching> ();
if (vesselSwitching != null)
{
Destroy(vesselSwitching);
Utils.Log("vesselSwitching destroyed.");
}
if (!MapView.MapIsEnabled)
{
if (!InputLockManager.IsLocked(ControlTypes.VESSEL_SWITCHING))
{
if (!FlightDriver.Pause)
{
currentIndex = -1;
if (GameSettings.FOCUS_PREV_VESSEL.GetKeyDown())
{
if (HighLogic.CurrentGame != null && !HighLogic.CurrentGame.Parameters.Flight.CanSwitchVesselsNear)
{
PostMessage("Cannot switch vessels because it is disabled");
return;
}
if (HighLogic.LoadedSceneIsFlight)
{
CameraManager.Instance.SetCameraFlight();
}
this.vesselList.Clear();
currentIndex = FlightGlobals.Vessels.IndexOf(FlightGlobals.ActiveVessel);
do
{
currentIndex--;
if (currentIndex < 0)
{
currentIndex += FlightGlobals.Vessels.Count;
}
currentVessel = FlightGlobals.Vessels [currentIndex];
if (currentVessel.loaded && currentVessel != FlightGlobals.ActiveVessel)
{
//only allow switching to non-creature vessels
if (!(currentVessel.rootPart is CreaturePart))
{
this.vesselList.Add(currentVessel);
}
}
}while(currentVessel != FlightGlobals.ActiveVessel);
}
if (GameSettings.FOCUS_NEXT_VESSEL.GetKeyDown())
{
if (HighLogic.CurrentGame != null && !HighLogic.CurrentGame.Parameters.Flight.CanSwitchVesselsNear)
{
PostMessage("Cannot switch vessels because it is disabled");
return;
}
if (HighLogic.LoadedSceneIsFlight)
{
CameraManager.Instance.SetCameraFlight();
}
this.vesselList.Clear();
currentIndex = FlightGlobals.Vessels.IndexOf(FlightGlobals.ActiveVessel);
do
{
currentIndex++;
if (currentIndex >= FlightGlobals.Vessels.Count)
{
currentIndex = 0;
}
currentVessel = FlightGlobals.Vessels [currentIndex];
if (currentVessel.loaded && currentVessel != FlightGlobals.ActiveVessel)
{
//only allow switching to non-creature vessels
if (!(currentVessel.rootPart is CreaturePart))
{
this.vesselList.Add(currentVessel);
}
}
}while(currentVessel != FlightGlobals.ActiveVessel);
}
if (currentIndex != -1)
{
if (vesselList.Count <= 0)
{
PostMessage("No nearby objects to focus. Use the Map View to select distant ones.");
}
else
{
ClearToSaveStatus status = FlightGlobals.ClearToSave();
foreach (var vessel in vesselList)
{
if (vessel.packed)
{
if (status != ClearToSaveStatus.CLEAR)
{
continue;
}
}
FlightGlobals.ForceSetActiveVessel(vessel);
FlightInputHandler.ResumeVesselCtrlState(vessel);
return;
}
}
}
}
}
}
}
public override void Drive(FlightCtrlState s) // TODO put the brake in when running out of power to prevent nighttime solar failures on hills, or atleast try to
{ // TODO make distance calculation for 'reached' determination consider the rover and waypoint on sealevel to prevent height differences from messing it up -- should be done now?
if (orbit.referenceBody != lastBody)
{
WaypointIndex = -1; Waypoints.Clear();
}
MechJebWaypoint wp = (WaypointIndex > -1 && WaypointIndex < Waypoints.Count ? Waypoints[WaypointIndex] : null);
var brake = vessel.ActionGroups[KSPActionGroup.Brakes]; // keep brakes locked if they are
curSpeed = Vector3d.Dot(vesselState.surfaceVelocity, vesselState.forward);
CalculateTraction();
speedIntAcc = speedPID.intAccum;
if (wp != null && wp.Body == orbit.referenceBody)
{
if (ControlHeading)
{
heading.val = Math.Round(HeadingToPos(vessel.CoM, wp.Position), 1);
}
if (ControlSpeed)
{
var nextWP = (WaypointIndex < Waypoints.Count - 1 ? Waypoints[WaypointIndex + 1] : (LoopWaypoints ? Waypoints[0] : null));
var distance = Vector3.Distance(vessel.CoM, wp.Position);
if (wp.Target != null)
{
distance += (float)(wp.Target.srfSpeed * curSpeed) / 2;
}
// var maxSpeed = (wp.MaxSpeed > 0 ? Math.Min((float)speed, wp.MaxSpeed) : speed); // use waypoints maxSpeed if set and smaller than set the speed or just stick with the set speed
var maxSpeed = (wp.MaxSpeed > 0 ? wp.MaxSpeed : speed); // speed used to go towards the waypoint, using the waypoints maxSpeed if set or just stick with the set speed
var minSpeed = (wp.MinSpeed > 0 ? wp.MinSpeed :
(nextWP != null ? TurningSpeed((nextWP.MaxSpeed > 0 ? nextWP.MaxSpeed : speed), heading - HeadingToPos(wp.Position, nextWP.Position)) :
(distance - wp.Radius > 50 ? turnSpeed.val : 1)));
minSpeed = (wp.Quicksave ? 1 : minSpeed);
// ^ speed used to go through the waypoint, using half the set speed or maxSpeed as minSpeed for routing waypoints (all except the last)
var newSpeed = Math.Min(maxSpeed, Math.Max((distance - wp.Radius) / curSpeed, minSpeed)); // brake when getting closer
newSpeed = (newSpeed > turnSpeed ? TurningSpeed(newSpeed, headingErr) : newSpeed); // reduce speed when turning a lot
var radius = Math.Max(wp.Radius, 10);
if (distance < radius)
{
if (WaypointIndex + 1 >= Waypoints.Count) // last waypoint
{
newSpeed = new [] { newSpeed, (distance < radius * 0.8 ? 0 : 1) }.Min();
// ^ limit speed so it'll only go from 1m/s to full stop when braking to prevent accidents on moons
if (LoopWaypoints)
{
WaypointIndex = 0;
}
else
{
newSpeed = 0;
brake = true;
if (curSpeed < brakeSpeedLimit)
{
if (wp.Quicksave)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
QuickSaveLoad.QuickSave();
}
}
else
{
WaypointIndex = -1;
ControlHeading = ControlSpeed = false;
}
}
}
}
else
{
if (wp.Quicksave)
{
newSpeed = 0;
if (curSpeed < brakeSpeedLimit)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex++;
QuickSaveLoad.QuickSave();
}
}
}
else
{
WaypointIndex++;
}
}
}
brake = brake || ((s.wheelThrottle == 0 || !vessel.isActiveVessel) && curSpeed < brakeSpeedLimit && newSpeed < brakeSpeedLimit);
// ^ brake if needed to prevent rolling, hopefully
tgtSpeed = (newSpeed >= 0 ? newSpeed : 0);
}
}
if (ControlHeading)
{
headingPID.intAccum = Mathf.Clamp((float)headingPID.intAccum, -1, 1);
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim || FlightGlobals.ActiveVessel != vessel)
{
float limit = (Math.Abs(curSpeed) > turnSpeed ? Mathf.Clamp((float)((turnSpeed + 6) / Square(curSpeed)), 0.1f, 1f) : 1f);
// turnSpeed needs to be higher than curSpeed or it will never steer as much as it could even at 0.2m/s above it
double act = headingPID.Compute(headingErr);
if (traction >= tractionLimit)
{
s.wheelSteer = Mathf.Clamp((float)act, -limit, limit);
// prevents it from flying above a waypoint and landing with steering at max while still going fast
}
}
}
// Brake if there is no controler (Pilot eject from seat)
if (BrakeOnEject && vessel.GetReferenceTransformPart() == null)
{
s.wheelThrottle = 0;
brake = true;
}
else if (ControlSpeed)
{
speedPID.intAccum = Mathf.Clamp((float)speedPID.intAccum, -5, 5);
speedErr = (WaypointIndex == -1 ? speed.val : tgtSpeed) - Vector3d.Dot(vesselState.surfaceVelocity, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim || FlightGlobals.ActiveVessel != vessel)
{
float act = (float)speedPID.Compute(speedErr);
s.wheelThrottle = Mathf.Clamp(act, -1f, 1f);
if (curSpeed < 0 & s.wheelThrottle < 0)
{
s.wheelThrottle = 0;
} // don't go backwards
if (Mathf.Sign(act) + Mathf.Sign(s.wheelThrottle) == 0)
{
s.wheelThrottle = Mathf.Clamp(act, -1f, 1f);
}
if (speedErr < -1 && StabilityControl && Mathf.Sign(s.wheelThrottle) + Math.Sign(curSpeed) == 0)
{
brake = true;
}
lastThrottle = Mathf.Clamp(s.wheelThrottle, -1, 1);
}
}
if (StabilityControl)
{
if (!core.attitude.users.Contains(this))
{
core.attitude.users.Add(this);
}
var fSpeed = (float)curSpeed;
Vector3 fwd = (Vector3)(traction > 0 ? // V when the speed is low go for the vessels forward, else with a bit of velocity
vesselState.forward * 4 - vessel.transform.right * s.wheelSteer * Mathf.Sign(fSpeed) : // and then add the steering
vesselState.surfaceVelocity); // in the air so follow velocity
Vector3.OrthoNormalize(ref norm, ref fwd);
var quat = Quaternion.LookRotation(fwd, norm);
if (vesselState.torqueAvailable.sqrMagnitude > 0)
{
core.attitude.attitudeTo(quat, AttitudeReference.INERTIAL, this);
}
}
if (BrakeOnEnergyDepletion)
{
var batteries = vessel.Parts.FindAll(p => p.Resources.Contains(PartResourceLibrary.ElectricityHashcode) && p.Resources.Get(PartResourceLibrary.ElectricityHashcode).flowState);
var energyLeft = batteries.Sum(p => p.Resources.Get(PartResourceLibrary.ElectricityHashcode).amount) / batteries.Sum(p => p.Resources.Get(PartResourceLibrary.ElectricityHashcode).maxAmount);
var openSolars = vessel.mainBody.atmosphere && // true if in atmosphere and there are breakable solarpanels that aren't broken nor retracted
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable && p.deployState != ModuleDeployablePart.DeployState.BROKEN &&
p.deployState != ModuleDeployablePart.DeployState.RETRACTED).Count > 0;
if (openSolars && energyLeft > 0.99)
{
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.isBreakable &&
p.deployState == ModuleDeployablePart.DeployState.EXTENDED).ForEach(p => p.Retract());
}
if (energyLeft < 0.05 && Math.Sign(s.wheelThrottle) + Math.Sign(curSpeed) != 0)
{
s.wheelThrottle = 0;
} // save remaining energy by not using it for acceleration
if (openSolars || energyLeft < 0.03)
{
tgtSpeed = 0;
}
if (curSpeed < brakeSpeedLimit && (energyLeft < 0.05 || openSolars))
{
brake = true;
}
if (curSpeed < 0.1 && energyLeft < 0.05 && !waitingForDaylight &&
vessel.FindPartModulesImplementing <ModuleDeployableSolarPanel>().FindAll(p => p.deployState == ModuleDeployablePart.DeployState.EXTENDED).Count > 0)
{
waitingForDaylight = true;
}
}
if (s.wheelThrottle != 0 && (Math.Sign(s.wheelThrottle) + Math.Sign(curSpeed) != 0 || curSpeed < 1))
{
brake = false; // the AP or user want to drive into the direction of momentum so release the brake
}
if (vessel.isActiveVessel)
{
if (GameSettings.BRAKES.GetKeyUp())
{
brake = false; // release the brakes if the user lets go of them
}
if (GameSettings.BRAKES.GetKey())
{
brake = true; // brake if the user brakes and we aren't about to flip
}
}
tractionLimit = (double)Mathf.Clamp((float)tractionLimit, 0, 100);
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, brake && (StabilityControl && (ControlHeading || ControlSpeed) ? traction >= tractionLimit : true));
// only let go of the brake when losing traction if the AP is driving, otherwise assume the player knows when to let go of it
// also to not constantly turn off the parking brake from going over a small bump
if (brake && curSpeed < 0.1)
{
s.wheelThrottle = 0;
}
}
public override void Drive(FlightCtrlState s) // TODO put the brake in when running out of power to prevent nighttime solar failures on hills, or atleast try to
{ // TODO make distance calculation for 'reached' determination consider the rover and waypoint on sealevel to prevent height differences from messing it up
if (orbit.referenceBody != lastBody)
{
WaypointIndex = -1; Waypoints.Clear();
}
MechJebRoverWaypoint wp = (WaypointIndex > -1 && WaypointIndex < Waypoints.Count ? Waypoints[WaypointIndex] : null);
var curSpeed = vesselState.speedSurface;
etaSpeed.value = curSpeed;
if (wp != null && wp.Body == orbit.referenceBody)
{
if (controlHeading)
{
heading = Math.Round(HeadingToPos(vessel.CoM, wp.Position), 1);
}
if (controlSpeed)
{
var nextWP = (WaypointIndex < Waypoints.Count - 1 ? Waypoints[WaypointIndex + 1] : (LoopWaypoints ? Waypoints[0] : null));
var distance = Vector3.Distance(vessel.CoM, wp.Position);
//var maxSpeed = (wp.MaxSpeed > 0 ? Math.Min((float)speed, wp.MaxSpeed) : speed); // use waypoints maxSpeed if set and smaller than set the speed or just stick with the set speed
var maxSpeed = (wp.MaxSpeed > 0 ? wp.MaxSpeed : speed); // speed used to go towards the waypoint, using the waypoints maxSpeed if set or just stick with the set speed
var minSpeed = (wp.MinSpeed > 0 ? wp.MinSpeed :
(nextWP != null ? TurningSpeed((nextWP.MaxSpeed > 0 ? nextWP.MaxSpeed : speed), heading - HeadingToPos(wp.Position, nextWP.Position)) :
(distance - wp.Radius > 50 ? turnSpeed.val : 1)));
minSpeed = (wp.Quicksave ? 0 : minSpeed);
// ^ speed used to go through the waypoint, using half the set speed or maxSpeed as minSpeed for routing waypoints (all except the last)
var brakeFactor = Math.Max((curSpeed - minSpeed) * 1, 3);
var newSpeed = Math.Min(maxSpeed, Math.Max((distance - wp.Radius) / brakeFactor, minSpeed)); // brake when getting closer
newSpeed = (newSpeed > turnSpeed ? TurningSpeed(newSpeed, headingErr) : newSpeed); // reduce speed when turning a lot
var radius = Math.Max(wp.Radius, 10 / 0.8); // alternative radius so negative radii can still make it go full speed through waypoints for navigation reasons
if (distance < radius)
{
if (WaypointIndex + 1 >= Waypoints.Count) // last waypoint
{
newSpeed = new [] { newSpeed, (distance < radius * 0.8 ? 0 : 1) }.Min();
// ^ limit speed so it'll only go from 1m/s to full stop when braking to prevent accidents on moons
if (LoopWaypoints)
{
WaypointIndex = 0;
}
else
{
newSpeed = -0.25;
tgtSpeed.force(newSpeed);
if (curSpeed < 0.85)
{
if (wp.Quicksave)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex = -1;
controlHeading = controlSpeed = false;
QuickSaveLoad.QuickSave();
}
}
else
{
WaypointIndex = -1;
controlHeading = controlSpeed = false;
}
}
// else {
// Debug.Log("Is this even getting called?");
// WaypointIndex++;
// }
}
}
else
{
if (wp.Quicksave)
{
newSpeed = -0.25;
tgtSpeed.force(newSpeed);
if (curSpeed < 0.85)
{
if (FlightGlobals.ClearToSave() == ClearToSaveStatus.CLEAR)
{
WaypointIndex++;
QuickSaveLoad.QuickSave();
}
}
}
else
{
WaypointIndex++;
}
}
}
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, (GameSettings.BRAKES.GetKey() && vessel.isActiveVessel) || ((s.wheelThrottle == 0 || !vessel.isActiveVessel) && curSpeed < 0.85 && newSpeed < 0.85));
// ^ brake if needed to prevent rolling, hopefully
tgtSpeed.value = Math.Round(newSpeed, 1);
}
}
if (controlHeading)
{
if (heading != headingLast)
{
headingPID.Reset();
headingLast = heading;
}
double instantaneousHeading = vesselState.rotationVesselSurface.eulerAngles.y;
headingErr = MuUtils.ClampDegrees180(instantaneousHeading - heading);
if (s.wheelSteer == s.wheelSteerTrim || FlightGlobals.ActiveVessel != vessel)
{
float spd = Mathf.Min((float)speed, (float)turnSpeed); // if a slower speed than the turnspeed is used also be more careful with the steering
float limit = (curSpeed <= turnSpeed ? 1 : Mathf.Clamp((float)((spd * spd) / (curSpeed * curSpeed)), 0.2f, 1f));
double act = headingPID.Compute(headingErr);
s.wheelSteer = Mathf.Clamp((float)act, -limit, limit);
}
}
// Brake if there is no controler (Pilot eject from seat)
if (brakeOnEject && vessel.GetReferenceTransformPart() == null)
{
s.wheelThrottle = 0;
vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
}
else if (controlSpeed)
{
if (speed != speedLast)
{
speedPID.Reset();
speedLast = speed;
}
speedErr = (WaypointIndex == -1 ? speed.val : tgtSpeed.value) - Vector3d.Dot(vesselState.velocityVesselSurface, vesselState.forward);
if (s.wheelThrottle == s.wheelThrottleTrim || FlightGlobals.ActiveVessel != vessel)
{
double act = speedPID.Compute(speedErr);
s.wheelThrottle = Mathf.Clamp((float)act, -1, 1);
}
}
}