//Allows for automatic initiation and termination of burns
private void automation(ManeuverNode myNode)
{
//Auto shutdown
if (autoShutdown)
{
if ((myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit).magnitude < 0.5 || offTarget(myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit), 7.6f)) && timeToBurn < 1)
{
autoShutdown = false;
FlightInputHandler.state.mainThrottle = 0;
Log.Info("(SG) Burn complete, throttle back.");
}
}
//if (offTarget(myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit),7.2f)) Log.Info("Off target!");
//Auto burn
if (autoBurn)
{
if (timeToBurn <= 5)
{
TimeWarp.SetRate(0, true);
}
if (timeToBurn <= 50 && TimeWarp.CurrentRateIndex > 2)
{
TimeWarp.SetRate(2, true);
}
if (timeToBurn <= 500 && TimeWarp.CurrentRateIndex > 3)
{
TimeWarp.SetRate(3, true);
}
if (timeToBurn <= 5000 && TimeWarp.CurrentRateIndex > 4)
{
TimeWarp.SetRate(4, true);
}
if (timeToBurn < 1 && FlightInputHandler.state.mainThrottle == 0 && !offTarget(myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit), 2f))
{
//Add check for w/in 2 degrees
autoBurn = false;
FlightInputHandler.state.mainThrottle = 1;
Log.Info("(SG) Node reached, commencing burn!");
}
}
//update min delta V every .2 seconds
if (Planetarium.GetUniversalTime() > lastTime + 0.2)
{
lastTime = Planetarium.GetUniversalTime();
if (myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit).magnitude < minDv)
{
minDv = myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit).magnitude;
}
if (timeToBurn > 0)
{
minDv = myNode.DeltaV.magnitude; //suck it blue!
}
}
}
public override AutopilotStep Drive(FlightCtrlState s)
{
if (node != null)
{
double dVLeft = node.GetBurnVector(orbit).magnitude;
core.thrust.targetThrottle = 0;
if (burnTriggered && alignedForBurn)
{
if (core.attitude.attitudeAngleFromTarget() < 90)
{
double timeConstant = (dVLeft > 10 || vesselState.minThrustAccel > 0.25 * vesselState.maxThrustAccel ? 0.5 : 2);
core.thrust.ThrustForDV(dVLeft + core.node.tolerance, timeConstant);
}
else
{
alignedForBurn = false;
}
}
else
{
//aim along the node
core.attitude.attitudeTo(Vector3d.forward, AttitudeReference.MANEUVER_NODE, this);
if (core.attitude.attitudeAngleFromTarget() < 2)
{
alignedForBurn = true;
}
}
}
return(this);
}
void Update()
{
if (!HighLogic.LoadedSceneIsFlight)
{
return;
}
Vessel _vessel = FlightGlobals.ActiveVessel;
string[] _keys = Enum.GetNames(typeof(QKey.Key));
int _length = _keys.Length;
for (int _key = 1; _key < _length; _key++)
{
QKey.Key _getKey = (QKey.Key)_key;
if (_getKey == QKey.Key.WarpToNode)
{
continue;
}
if (QKey.isKeyDown(_getKey))
{
StartCoroutine(startSAS(QKey.GetAutoPilot(_getKey)));
ScreenMessages.PostScreenMessage(string.Format("[{0}] {1}", MOD, QKey.GetText(_getKey)), 5, ScreenMessageStyle.UPPER_CENTER);
Log(QKey.GetText(_getKey), "QSAS");
}
}
if (QKey.isKeyDown(QKey.Key.WarpToNode))
{
if (_vessel.patchedConicSolver.maneuverNodes.Count != 0)
{
double _UT;
ManeuverNode _manNode = _vessel.patchedConicSolver.maneuverNodes[0];
if (!QSettings.Instance.WarpToEnhanced)
{
_UT = _manNode.UT - 60;
}
else
{
double _estimatedBurnTime = _manNode.GetBurnVector(_vessel.orbit).magnitude / _vessel.specificAcceleration;
_UT = _manNode.UT - (_estimatedBurnTime / 2) - 15;
}
if (Planetarium.GetUniversalTime() > _UT)
{
ScreenMessages.PostScreenMessage(string.Format("[{0}] No need to time warp!", MOD), 5, ScreenMessageStyle.UPPER_CENTER);
Log("No need to time warp!", "QSAS");
return;
}
TimeWarp.fetch.WarpTo(_UT);
Log(QKey.GetText(QKey.Key.WarpToNode), "QSAS");
}
else
{
ScreenMessages.PostScreenMessage(string.Format("[{0}] No maneuver node!", MOD), 5, ScreenMessageStyle.UPPER_CENTER);
Log("No maneuver node!", "QSAS");
}
}
}
public string NextNodeCountdown()
{
if (!vessel.patchedConicsUnlocked() || !vessel.patchedConicSolver.maneuverNodes.Any())
{
return("-");
}
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes.First();
double dV = node.GetBurnVector(orbit).magnitude;
return(GuiUtils.TimeToDHMS(node.UT - BurnTime(dV) * leadFraction - vesselState.time));
}
public string NextNodeBurnTime()
{
if (!vessel.patchedConicsUnlocked() || !vessel.patchedConicSolver.maneuverNodes.Any())
{
return("-");
}
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes.First();
double dV = node.GetBurnVector(orbit).magnitude;
return(GuiUtils.TimeToDHMS(BurnTime(dV)));
}
void update_maneuver_node()
{
Node = Solver.maneuverNodes[0];
InitialDeltaV = Node.DeltaV.magnitude;
ThresholdDeltaV = Math.Min(InitialDeltaV, 10);
NodeDeltaV = Node.GetBurnVector(VSL.orbit);
if (VSL.Engines.MaxDeltaV < InitialDeltaV)
{
Status("yellow", "WARNING: there may be not enough propellant for the maneuver");
}
}
void update_maneuver_node()
{
Node = Solver.maneuverNodes[0];
NodeDeltaV = Node.GetBurnVector(VSL.orbit);
NodeCB = Node.patch.referenceBody;
TargetOrbit = Node.nextPatch;
if (VSL.Engines.MaxDeltaV < Node.DeltaV.magnitude)
{
Status("yellow", "WARNING: there may be not enough propellant for the maneuver");
}
}
public string NextManeuverNodeBurnTime()
{
if (!vessel.patchedConicsUnlocked() || !vessel.patchedConicSolver.maneuverNodes.Any())
{
return("N/A");
}
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes.First();
double burnTime = node.GetBurnVector(node.patch).magnitude / vesselState.limitedMaxThrustAccel;
return(GuiUtils.TimeToDHMS(burnTime));
}
public string NextNodeBurnTime()
{
if (!vessel.patchedConicsUnlocked() || vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
return("-");
}
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes[0];
double dV = node.GetBurnVector(orbit).magnitude;
double halfBurnTIme;
return(GuiUtils.TimeToDHMS(BurnTime(dV, out halfBurnTIme)));
}
public override AutopilotStep OnFixedUpdate()
{
if (!vessel.patchedConicsUnlocked() || vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
return(doAfterExecution);
}
node = vessel.patchedConicSolver.maneuverNodes[0];
double dVLeft = node.GetBurnVector(orbit).magnitude;
if (dVLeft < core.node.tolerance && core.attitude.attitudeAngleFromTarget() > 5)
{
burnTriggered = false;
node.RemoveSelf();
return(this); // we are done for this frame, continue in next
}
double halfBurnTime;
double burnTime = core.node.BurnTime(dVLeft, out halfBurnTime);
double timeToNode = node.UT - vesselState.time;
status = "Moving to node";
if ((!double.IsInfinity(halfBurnTime) && halfBurnTime > 0 && timeToNode < halfBurnTime) || timeToNode < 0)
{
burnTriggered = true;
status = "Executing node";
if (!MuUtils.PhysicsRunning())
{
core.warp.MinimumWarp();
}
}
//autowarp, but only if we're already aligned with the node
if (core.node.autowarp && !burnTriggered)
{
if ((core.attitude.attitudeAngleFromTarget() < 1 && core.vessel.angularVelocity.magnitude < 0.01) || (core.attitude.attitudeAngleFromTarget() < 10 && !MuUtils.PhysicsRunning()))
{
core.warp.WarpToUT(node.UT - halfBurnTime - core.node.leadTime);
}
else if (!MuUtils.PhysicsRunning() && core.attitude.attitudeAngleFromTarget() > 10 && timeToNode < 600)
{
//realign
core.warp.MinimumWarp();
}
}
return(this);
}
//Draws the digital readouts to the gauge
private void drawNumbers(ManeuverNode myNode)
{
//dv = Isp * ln (m0 / m1)
//e^(dv/ISP) = m0/m1
//m1 = m0/e^(dv/ISP) ...I think.
//mass flow = thrust/isp
deltaV = myNode.DeltaV.magnitude; //The burn's ΔV
deltaVRem = myNode.GetBurnVector(FlightGlobals.ActiveVessel.orbit).magnitude; //Remaining ΔV in the burn
//res r = calculateThrust(FlightGlobals.ActiveVessel); //Actually calculates thrust, mass, and Isp
//Log.Info("Mass: " + Math.Round(r.mass, 2) + " Thrust: " + Math.Round(r.thrust, 2) + " ISP: " + Math.Round(r.isp, 2));
//double mass = SteamShip.Mass / Math.Pow(Math.E, (deltaVRem / (SteamShip.ISP*9.82))); //Mass after burn Changed from 9.821
//Log.Info("Final Mass: " + Math.Round(mass, 2)+" Burn Mass: "+Math.Round(r.mass-mass,2));
//double rate = SteamShip.MaxThrust / (SteamShip.ISP*9.82); //Mass flow rate, rounded to 5 digits
//double burnTime = (SteamShip.Mass - mass)/rate; //Mass to burn over rate should give time, but doesn't
//burnTime += SteamShip.EngineAccel+SteamShip.EngineDecel; //Compensate for slow throttles
double burnTime = SteamShip.BurnTime;
NavBallBurnVector bv = UnityEngine.Object.FindObjectsOfType <NavBallBurnVector>()[0];
double bt2 = bv.estimatedBurnTime;
if (double.IsInfinity(bt2) || double.IsNaN(bt2))
{
bt2 = 0; //Assume its good if not infinity or NaN
}
//Draw values
drawDigits(182, 131, deltaV);
//If we are past the node time, time until burn is 0
if (Planetarium.GetUniversalTime() < myNode.UT)
{
if (useCalculatedBurn)
{
timeToBurn = (long)((myNode.UT - Planetarium.GetUniversalTime()) - (burnTime / 2.0));
drawTime(219, 198, timeToBurn); //draw actual time to burn start
}
else
{
timeToBurn = (long)((myNode.UT - Planetarium.GetUniversalTime()) - (bt2 / 2));
drawTime(219, 198, timeToBurn); //draw actual time to KSP's burn start
}
}
else
{
drawTime(219, 198, 0); //Use 0 as time to burn if past node
}
if (useCalculatedBurn)
{
drawTime(219, 261, burnTime); //Draw burn time.
}
else
{
drawTime(219, 261, bt2); //Draw KSP's burn time
}
}
internal void FixedUpdate()
{
if (!FlightDriver.Pause)
{
PatchedConicSolver solver = NodeTools.getSolver();
if (options.removeUsedNodes && solver.maneuverNodes.Count > 0)
{
ManeuverNode node = solver.maneuverNodes[0];
if (node.GetBurnVector(FlightGlobals.ActiveVessel.orbit).magnitude < options.usedNodeThreshold)
{
solver.RemoveManeuverNode(node);
//TODO: Clean up states after removing the node.
}
}
}
}
public string NextNodeCountdown()
{
if (!vessel.patchedConicsUnlocked() || !vessel.patchedConicSolver.maneuverNodes.Any())
{
return("-");
}
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes.First();
double dV = node.GetBurnVector(orbit).magnitude;
double halfBurnTIme;
double burnTIme = BurnTime(dV, out halfBurnTIme);
if (double.IsInfinity(halfBurnTIme))
{
halfBurnTIme = 0.0;
}
return(GuiUtils.TimeToDHMS(node.UT - halfBurnTIme - vesselState.time));
}
protected override void Update()
{
if (!IsActive)
{
return;
}
if (!VSL.HasManeuverNode || Node != Solver.maneuverNodes[0])
{
reset(); return;
}
if (Executor.Execute(Node.GetBurnVector(VSL.orbit), MinDeltaV, StartCondition))
{
return;
}
Node.RemoveSelf();
reset();
}
private void RefreshNodeValues()
{
// Per KSP API wiki http://docuwiki-kspapi.rhcloud.com/#/classes/ManeuverNode:
// The x-component of DeltaV represents the delta-V in the radial-plus direction.
// The y-component of DeltaV represents the delta-V in the normal-plus direction.
// The z-component of DeltaV represents the delta-V in the prograde direction.
// However... it is not returned in the basis of the orbit at the time of the
// maneuver. It needs transformed into the right basis.
maneuverVector = node.GetBurnVector(orbit);
nodeDV = maneuverVector.magnitude;
// Swizzle these into the right order.
Vector3d mnvrVel = orbit.getOrbitalVelocityAtUT(node.UT).xzy;
Vector3d mnvrPos = orbit.getRelativePositionAtUT(node.UT).xzy;
Vector3d mnvrPrograde = mnvrVel.normalized; // Prograde vector at maneuver time
Vector3d mnvrNml = Vector3d.Cross(mnvrVel, mnvrPos).normalized;
Vector3d mnvrRadial = Vector3d.Cross(mnvrNml, mnvrPrograde);
maneuverNodeComponentVector.x = Vector3d.Dot(maneuverVector, mnvrPrograde);
maneuverNodeComponentVector.y = Vector3d.Dot(maneuverVector, mnvrNml);
maneuverNodeComponentVector.z = Vector3d.Dot(maneuverVector, mnvrRadial);
}
protected override void Update()
{
if (!IsActive)
{
return;
}
if (!VSL.HasManeuverNode || Node != Solver.maneuverNodes[0])
{
reset(); return;
}
NodeDeltaV = Node.GetBurnVector(VSL.orbit);
// Log("Node.dV {}", NodeDeltaV);//debug
if (Executor.Execute(NodeDeltaV, MinDeltaV, StartCondition))
{
within_threshold |= Executor.RemainingDeltaV < ThresholdDeltaV;
if (within_threshold)
{
VSL.Controls.GimbalLimit = 0;
var dV = Executor.RemainingDeltaV;
if (dV < min_deltaV)
{
min_deltaV = dV; return;
}
if (dV - min_deltaV < GLB.THR.MinDeltaV)
{
return;
}
}
else
{
return;
}
}
Node.RemoveSelf();
reset();
}
public Vector GetBurnVector()
{
CheckNodeRef();
return(new Vector(nodeRef.GetBurnVector(vesselRef.GetOrbit())));
}
public override void OnFixedUpdate()
{
if (!vessel.patchedConicSolver.maneuverNodes.Any())
{
Abort();
return;
}
//check if we've finished a node:
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes.First();
double dVLeft = node.GetBurnVector(orbit).magnitude;
if (dVLeft < tolerance && core.attitude.attitudeAngleFromTarget() > 5)
{
burnTriggered = false;
vessel.patchedConicSolver.RemoveManeuverNode(node);
if (mode == Mode.ONE_NODE)
{
Abort();
return;
}
else if (mode == Mode.ALL_NODES)
{
if (!vessel.patchedConicSolver.maneuverNodes.Any())
{
Abort();
return;
}
else
{
node = vessel.patchedConicSolver.maneuverNodes.First();
}
}
}
//aim along the node
core.attitude.attitudeTo(Vector3d.forward, AttitudeReference.MANEUVER_NODE, this);
double burnTime = BurnTime(dVLeft);
double timeToNode = node.UT - vesselState.time;
if (timeToNode < burnTime * leadFraction)
{
burnTriggered = true;
if (!MuUtils.PhysicsRunning())
{
core.warp.MinimumWarp();
}
}
//autowarp, but only if we're already aligned with the node
if (autowarp && !burnTriggered)
{
if (core.attitude.attitudeAngleFromTarget() < 1 || (core.attitude.attitudeAngleFromTarget() < 10 && !MuUtils.PhysicsRunning()))
{
core.warp.WarpToUT(node.UT - burnTime * leadFraction - leadTime);
}
else if (!MuUtils.PhysicsRunning() && core.attitude.attitudeAngleFromTarget() > 10 && timeToNode < 600)
{
//realign
core.warp.MinimumWarp();
}
}
core.thrust.targetThrottle = 0;
if (burnTriggered)
{
if (alignedForBurn)
{
if (core.attitude.attitudeAngleFromTarget() < 90)
{
double timeConstant = (dVLeft > 10 ? 0.5 : 2);
double desiredAcceleration = dVLeft / timeConstant;
desiredAcceleration = Math.Max(tolerance, desiredAcceleration);
core.thrust.targetThrottle = Mathf.Clamp01((float)(desiredAcceleration / vesselState.maxThrustAccel));
}
else
{
alignedForBurn = false;
}
}
else
{
if (core.attitude.attitudeAngleFromTarget() < 2)
{
alignedForBurn = true;
}
}
}
}
/// <summary>
/// Executes the maneuver burn for the configured maneuver node.
/// </summary>
/// <param name="computer">FlightComputer instance of the computer of the vessel the ManeuverCommand is for.</param>
/// <param name="ctrlState">FlightCtrlState instance of the current state of the vessel.</param>
/// <returns>true if the command has finished its work, false otherwise.</returns>
public override bool Execute(FlightComputer computer, FlightCtrlState ctrlState)
{
// Halt the command if we reached our target or were command to abort by the previous tick
if (this.RemainingDelta <= 0.01 || this.abortOnNextExecute)
{
this.AbortManeuver(computer);
return(true);
}
// Orientate vessel to maneuver prograde
var forward = Node.GetBurnVector(computer.Vessel.orbit).normalized;
var up = (computer.SignalProcessor.Body.position - computer.SignalProcessor.Position).normalized;
var orientation = Quaternion.LookRotation(forward, up);
FlightCore.HoldOrientation(ctrlState, computer, orientation, true);
// This represents the theoretical acceleration but is off by a few m/s^2, probably because some parts are partially physicsless
double thrustToMass = (FlightCore.GetTotalThrust(computer.Vessel) / computer.Vessel.GetTotalMass());
// We need to know if the engine was activated or not to show the proper info text in the command
if (thrustToMass == 0.0)
{
this.EngineActivated = false;
return(false);
}
this.EngineActivated = true;
// Before any throttling, those two values may differ from after the throttling took place
this.RemainingDelta = this.getRemainingDeltaV(computer);
this.RemainingTime = this.RemainingDelta / thrustToMass;
// In case we would overpower with 100% thrust, calculate how much we actually need and set it.
if (computer.Vessel.acceleration.magnitude > this.RemainingDelta)
{
// Formula which leads to this: a = ( vE – vS ) / dT
this.throttle = this.RemainingDelta / computer.Vessel.acceleration.magnitude;
}
ctrlState.mainThrottle = (float)this.throttle;
// TODO: THIS CAN PROBABLY BE REMOVED? RemainingDelta = this.getRemainingDeltaV(computer);
// After throttling, the remaining time differs from beforehand (dividing delta by throttled thrustToMass)
this.RemainingTime = this.RemainingDelta / (ctrlState.mainThrottle * thrustToMass);
// We need to abort if the remaining delta was already low enough so it only takes exactly one more tick!
double ticksRemaining = this.RemainingTime / TimeWarp.deltaTime;
if (ticksRemaining <= 1)
{
this.throttle *= ticksRemaining;
ctrlState.mainThrottle = (float)this.throttle;
this.abortOnNextExecute = true;
return(false);
}
// we only compare up to the fiftieth part due to some burn-up delay when just firing up the engines
if (this.lowestDeltaV > 0 && // Do ignore the first tick
(this.RemainingDelta - 0.02) > this.lowestDeltaV &&
this.RemainingDelta < 1.0) // be safe that we do not abort the command to early
{
// Aborting because deltaV was rising again!
this.AbortManeuver(computer);
return(true);
}
// Lowest delta always has to be stored to be able to compare it in the next tick
if (this.lowestDeltaV == 0 || // Always do it on the first tick
this.RemainingDelta < this.lowestDeltaV)
{
this.lowestDeltaV = this.RemainingDelta;
}
return(false);
}
public static void Update(bool target)
{
_update = false;
if (FlightGlobals.ActiveVessel == null ||
FlightGlobals.ActiveVessel.patchedConicSolver == null)
{
_updated = false;
return;
}
PatchedConicSolver solver = FlightGlobals.ActiveVessel.patchedConicSolver;
_node = solver.maneuverNodes[0];
if (_node != null || _node.patch == null)
{
_maneuverTotal = _node.DeltaV.magnitude;
_maneuverRemaining = _node.GetBurnVector(_node.patch).magnitude;
if (BasicOrbitReflection.BetterBurnTimeLoaded)
{
if (_bbVesselModule == null || _bbVesselReference != FlightGlobals.ActiveVessel)
{
for (int i = FlightGlobals.ActiveVessel.vesselModules.Count - 1; i >= 0; i--)
{
VesselModule vMod = FlightGlobals.ActiveVessel.vesselModules[i];
if (vMod == null)
{
continue;
}
if (vMod.GetType().Name != _bbModuleName)
{
continue;
}
_bbVesselModule = vMod;
_bbVesselReference = FlightGlobals.ActiveVessel;
break;
}
}
if (_bbVesselModule != null)
{
string type = _bbVesselModule.Fields[_bbTypeName].GetValue(_bbVesselModule).ToString();
if (type == "Maneuver")
{
_burnLength = _bbVesselModule.Fields[_bbLengthName].GetValue <double>(_bbVesselModule);
_burnTime = _bbVesselModule.Fields[_bbTimeName].GetValue <double>(_bbVesselModule);
if (double.IsNaN(_burnLength) || double.IsNaN(_burnTime))
{
_bbTimeLoaded = false;
_burnTime = _node.UT;
_burnLength = 0;
}
else
{
double half = _burnLength / 2;
_burnTime -= half;
_bbTimeLoaded = true;
}
}
else
{
_bbTimeLoaded = false;
_burnTime = _node.UT;
}
}
else
{
_bbTimeLoaded = false;
_burnTime = _node.UT;
}
}
else
{
_burnTime = _node.UT;
}
_showAngle = false;
_showPhasing = false;
_targetInclination = false;
if (target)
{
if (!BasicTargetting.IsVessel && !BasicTargetting.IsCelestial)
{
_vesselIntersect = false;
_bodyIntersect = false;
}
else
{
Orbit targetOrbit = FlightGlobals.ActiveVessel.targetObject.GetOrbit();
Orbit active = FlightGlobals.ActiveVessel.orbit;
_targetPhasingOrbit = null;
if (active.referenceBody == targetOrbit.referenceBody)
{
_phasingNodePatch = active;
_targetPhasingOrbit = targetOrbit;
_targetInclination = true;
}
else
{
if (active.referenceBody != Planetarium.fetch.Sun)
{
_showAngle = true;
}
_showPhasing = true;
DrillDownOrbits(_node.patch, targetOrbit);
}
Vessel.Situations sit = FlightGlobals.ActiveVessel.situation;
if ((sit |= Vessel.Situations.LANDED | Vessel.Situations.SPLASHED | Vessel.Situations.PRELAUNCH) == 0)
{
_vesselIntersect = false;
_bodyIntersect = false;
}
else
{
OrbitTargeter oTargeter = FlightGlobals.ActiveVessel.orbitTargeter;
if (oTargeter == null || solver == null)
{
_vesselIntersect = false;
_bodyIntersect = false;
}
else if (!MapView.MapIsEnabled)
{
if (BasicTargetting.IsVessel)
{
_bodyIntersect = false;
Vessel tgt = FlightGlobals.ActiveVessel.targetObject.GetVessel();
if (tgt == null || tgt.LandedOrSplashed)
{
_vesselIntersect = false;
return;
}
Orbit _refPatch = BasicOrbitReflection.GetRefPatch(oTargeter);
Orbit _tgtRefPatch = BasicOrbitReflection.GetTargetRefPatch(oTargeter);
_vesselIntersect = GetClosestVessel(_refPatch, _tgtRefPatch);
}
else
{
_vesselIntersect = false;
double Pe = GetLowestPeA(solver, BasicTargetting.TargetBody, _node.patch);
if (Pe < BasicExtensions.AlmostMaxValue)
{
_closestDist = Pe;
_bodyIntersect = true;
}
else
{
Orbit _refPatch = BasicOrbitReflection.GetRefPatch(oTargeter);
Orbit _tgtRefPatch = BasicOrbitReflection.GetTargetRefPatch(oTargeter);
if (_refPatch != null && _refPatch.closestTgtApprUT <= 0)
{
_bodyIntersect = false;
return;
}
_bodyIntersect = GetClosestCelestial(_refPatch, _tgtRefPatch);
}
}
}
else
{
if (BasicTargetting.Markers == null || BasicTargetting.Markers.Count <= 0)
{
BasicTargetting.Markers = BasicOrbitReflection.GetOrbitMarkers(oTargeter);
}
if (BasicTargetting.IsVessel)
{
_bodyIntersect = false;
OrbitTargeter.ISectMarker _intersectOne = null;
OrbitTargeter.ISectMarker _intersectTwo = null;
for (int i = BasicTargetting.Markers.Count - 1; i >= 0; i--)
{
OrbitTargeter.Marker m = BasicTargetting.Markers[i];
if (m == null)
{
continue;
}
if (!(m is OrbitTargeter.ISectMarker))
{
continue;
}
int num = ((OrbitTargeter.ISectMarker)m).num;
if (num == 1)
{
_intersectOne = m as OrbitTargeter.ISectMarker;
}
else if (num == 2)
{
_intersectTwo = m as OrbitTargeter.ISectMarker;
}
}
OrbitTargeter.ISectMarker _closestIntersect = null;
if (_intersectOne != null && _intersectTwo != null)
{
_closestIntersect = _intersectOne.separation > _intersectTwo.separation ? _intersectTwo : _intersectOne;
}
else if (_intersectOne != null)
{
_closestIntersect = _intersectOne;
}
else if (_intersectTwo != null)
{
_closestIntersect = _intersectTwo;
}
else
{
_closestIntersect = null;
}
if (_closestIntersect == null)
{
_vesselIntersect = false;
}
else
{
_vesselIntersect = true;
_closestDist = _closestIntersect.separation * 1000;
_closestRelVel = _closestIntersect.relSpeed;
_closestTime = _closestIntersect.UT;
}
}
else
{
_vesselIntersect = false;
double Pe = GetLowestPeA(solver, BasicTargetting.TargetBody, _node.patch);
if (Pe < BasicExtensions.AlmostMaxValue)
{
_closestDist = Pe;
_bodyIntersect = true;
}
else
{
OrbitTargeter.ClApprMarker _approach = null;
for (int i = BasicTargetting.Markers.Count - 1; i >= 0; i--)
{
OrbitTargeter.Marker m = BasicTargetting.Markers[i];
if (m == null)
{
continue;
}
if (!(m is OrbitTargeter.ClApprMarker))
{
continue;
}
_approach = m as OrbitTargeter.ClApprMarker;
}
if (_approach == null)
{
_bodyIntersect = false;
}
else
{
_bodyIntersect = true;
_closestDist = _approach.separation * 1000;
_closestTime = (_approach.dT * -1) + Planetarium.GetUniversalTime();
}
}
}
}
}
}
}
_updated = true;
}
}
private void OnHudTextWindow(int windowID)
{
Vessel vessel = FlightGlobals.fetch.activeVessel;
double vel = 0.0d;
string speedLabel;
GUIStyle hudTextStyle = new GUIStyle();
hudTextStyle.normal.textColor = _values.HudTextColor;
GUILayout.BeginVertical();
bool isRCSOn = vessel.ActionGroups[KSPActionGroup.RCS];
bool isSASOn = vessel.ActionGroups[KSPActionGroup.SAS];
GUILayout.BeginHorizontal();
if (isSASOn)
{
GUILayout.Label("SAS", hudTextStyle);
}
if (isRCSOn)
{
GUILayout.Label("RCS", hudTextStyle);
}
GUILayout.EndHorizontal();
switch (FlightGlobals.speedDisplayMode) // Changed in 1.1 from FlightUIController.speedDisplayMode
{
case FlightGlobals.SpeedDisplayModes.Surface:
vel = FlightGlobals.ship_srfSpeed;
speedLabel = "Surface: " + vel.ToString("F2") + "m/s";
break;
case FlightGlobals.SpeedDisplayModes.Orbit:
vel = FlightGlobals.ship_obtSpeed;
speedLabel = "Orbit: " + vel.ToString("F2") + "m/s";
break;
case FlightGlobals.SpeedDisplayModes.Target:
vel = FlightGlobals.ship_tgtSpeed;
speedLabel = "Target: " + vel.ToString("F2") + "m/s";
break;
default:
throw new ArgumentOutOfRangeException();
}
GUILayout.Label(speedLabel, hudTextStyle);
GUILayout.Label("Throttle: " + vessel.ctrlState.mainThrottle.ToString("P1"), hudTextStyle);
GUILayout.Label("Heading: " + FlightGlobals.ship_heading.ToString("F1"), hudTextStyle);
GUILayout.Label("G Force: " + FlightGlobals.ship_geeForce.ToString("F1"), hudTextStyle);
if (vessel != null && vessel.patchedConicSolver != null &&
vessel.patchedConicSolver.maneuverNodes != null &&
vessel.patchedConicSolver.maneuverNodes.Count > 0)
{
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes[0];
double burnDV = node.DeltaV.magnitude;
double burnRem = node.GetBurnVector(vessel.orbit).magnitude;
GUILayout.Label("Burn ΔV: " + burnRem.ToString("F2") + "m/s / " + burnDV.ToString("F2") + "m/s", hudTextStyle);
if (burnRem != double.NaN)
{
double totalThrust = 0.0;
double totalIsp = 0.0;
calcThrust(ref totalThrust, ref totalIsp);
if (vessel.ctrlState.mainThrottle > 0.0)
{
totalThrust *= vessel.ctrlState.mainThrottle;
}
double burnTimeRem = calcBurnTime(burnRem, vessel.GetTotalMass(), totalThrust, totalIsp);
double burnTimeTotal = calcBurnTime(burnDV, vessel.GetTotalMass(), totalThrust, totalIsp);
GUILayout.Label("Burn time: " + GetTimeString(burnTimeRem) + " / " + GetTimeString(burnTimeTotal),
hudTextStyle);
}
double timeToNode = node.UT - Planetarium.GetUniversalTime();
if (Math.Sign(timeToNode) >= 0)
{
GUILayout.Label("Node in T - " + GetTimeString(Math.Abs(timeToNode)), hudTextStyle);
}
else
{
GUILayout.Label("Node in T + " + GetTimeString(Math.Abs(timeToNode)), hudTextStyle);
}
}
GUILayout.EndVertical();
if (!_lockText)
{
GUI.DragWindow();
}
}
/*
* TARGET APIs
*/
public void TargetNode(ManeuverNode node, double burntime)
{
if (status == PVGStatus.ENABLED)
{
return;
}
if (p == null || isCoasting())
{
PontryaginNode solver = p as PontryaginNode;
if (solver == null)
{
solver = new PontryaginNode(core: core, mu: mainBody.gravParameter, r0: vesselState.orbitalPosition, v0: vesselState.orbitalVelocity, pv0: node.GetBurnVector(orbit).normalized, pr0: Vector3d.zero, dV: node.GetBurnVector(orbit).magnitude, bt: burntime);
}
solver.intercept(node.nextPatch);
p = solver;
}
}
public override void OnFixedUpdate()
{
if (!vessel.patchedConicsUnlocked() || !vessel.patchedConicSolver.maneuverNodes.Any())
{
Abort();
return;
}
//check if we've finished a node:
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes.First();
double dVLeft = node.GetBurnVector(orbit).magnitude;
if (dVLeft < tolerance && core.attitude.attitudeAngleFromTarget() > 5)
{
burnTriggered = false;
node.RemoveSelf();
if (mode == Mode.ONE_NODE)
{
Abort();
return;
}
else if (mode == Mode.ALL_NODES)
{
if (!vessel.patchedConicSolver.maneuverNodes.Any())
{
Abort();
return;
}
else
{
node = vessel.patchedConicSolver.maneuverNodes.First();
}
}
}
//aim along the node
core.attitude.attitudeTo(Vector3d.forward, AttitudeReference.MANEUVER_NODE, this);
double halfBurnTime;
double burnTime = BurnTime(dVLeft, out halfBurnTime);
double timeToNode = node.UT - vesselState.time;
if (timeToNode < halfBurnTime)
{
burnTriggered = true;
if (!MuUtils.PhysicsRunning())
{
core.warp.MinimumWarp();
}
}
//autowarp, but only if we're already aligned with the node
if (autowarp && !burnTriggered)
{
if (core.attitude.attitudeAngleFromTarget() < 1 || (core.attitude.attitudeAngleFromTarget() < 10 && !MuUtils.PhysicsRunning()))
{
core.warp.WarpToUT(node.UT - halfBurnTime - leadTime);
}
else if (!MuUtils.PhysicsRunning() && core.attitude.attitudeAngleFromTarget() > 10 && timeToNode < 600)
{
//realign
core.warp.MinimumWarp();
}
}
core.thrust.targetThrottle = 0;
if (burnTriggered)
{
if (alignedForBurn)
{
if (core.attitude.attitudeAngleFromTarget() < 90)
{
double timeConstant = (dVLeft > 10 || vesselState.minThrustAccel > 0.25 * vesselState.maxThrustAccel ? 0.5 : 2);
core.thrust.ThrustForDV(dVLeft + tolerance, timeConstant);
}
else
{
alignedForBurn = false;
}
}
else
{
if (core.attitude.attitudeAngleFromTarget() < 2)
{
alignedForBurn = true;
}
}
}
}
public override void OnFixedUpdate()
{
throttle.target = 0.0;
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
Debug.Log("NodeExecutor: no maneuver node to execute");
Disable();
return;
}
ManeuverNode node = vessel.patchedConicSolver.maneuverNodes[0];
double dVLeft = node.GetBurnVector(orbit).magnitude;
if (dVLeft < tolerance && attitude.AngleFromTarget() > 5)
{
Debug.Log("NodeExecutor: done with node, removing it");
node.RemoveSelf();
Disable();
return;
}
attitude.attitudeTo(Vector3d.forward, AttitudeReference.MANEUVER_NODE);
double BurnUT = node.UT - BurnTime(dVLeft) / 2.0;
if (vesselState.time < (BurnUT - 300))
{
/* way before the burn */
if (attitude.AngleFromTarget() < 1 && CheckAngularVelocity(ref checkOneStart))
{
warp.WarpToUT(this, BurnUT - leadTime);
}
}
else if (vesselState.time < (BurnUT - leadTime))
{
/* before the burn */
if (attitude.AngleFromTarget() < 1 && CheckAngularVelocity(ref checkTwoStart))
{
warp.WarpToUT(this, BurnUT - leadTime);
}
if (attitude.AngleFromTarget() > 5)
{
warp.MinimumWarp(this);
}
}
else if (vesselState.time < BurnUT)
{
/* settling time */
warp.MinimumWarp(this);
}
else
{
/* feeling the burn */
warp.MinimumWarp(this);
throttle.target = 0.0;
if (attitude.AngleFromTarget() > 5)
{
seeking = true;
}
else if (attitude.AngleFromTarget() < 1 || !seeking)
{
double thrustToMass = vesselState.thrustMaximum / vesselState.mass;
throttle.target = Utils.Clamp(dVLeft / thrustToMass / 2.0, 0.01, 1.0);
seeking = false;
}
}
}
public ManeuverNode GetManeuverNode()
{
if (payload == null || node?.nextPatch == null)
{
return(null);
}
var remainingDeltaV = node.nextPatch.GetFrameVelAtUT(node.UT)
- payload.orbit.GetFrameVelAtUT(node.UT);
var newNode = new ManeuverNode
{
UT = node.UT,
DeltaV = Utils.Orbital2NodeDeltaV(payload.orbit, remainingDeltaV, node.UT),
patch = new Orbit(payload.orbit),
nextPatch = new Orbit(node.nextPatch)
};
Utils.Debug($"new node: {newNode.ToConfigString()}\norbDeltaV: {Utils.Node2OrbitalDeltaV(newNode)}\nnode burn vector: {Utils.formatVector(node.GetBurnVector(payload.orbit))}\nnew node burn vec: {Utils.formatVector(newNode.GetBurnVector(payload.orbit))}");
return(newNode);
}
//This method is called periodically by the main thread,
//then it decides if it is time to start a new thread or not
public static void update()
{
now = Time.time;
//double lc = lastCharge;
//float lt = lastTime;
//lastTime = now;
double dt = TimeWarp.fixedDeltaTime;
//Debug.Log("Starting simulation at " + Math.Round(now, 3));
isReadable = false;
//Reset some stuff
ship = FlightGlobals.ActiveVessel;
body = ship.mainBody;
_gravity = FlightGlobals.getGeeForceAtPosition(ship.CoM).magnitude;
_electricCharge = 0;
_electricMax = 0;
_evamaxfuel = 0;
_evafuel = 0;
_liquidFuel = 0;
_liquidMax = 0;
_monoFuel = 0;
_monoMax = 0;
_airin = 0;
_airreq = 0;
_mass = 0;
_max_thrust = 0;
_cur_thrust = 0;
_isp = 0;
_engineaccel = 0;
_enginedecel = 0;
_max_temp_percent = 0;
_max_temp_actual = 0;
double _best_temp = 0;
double _best_ablation = 0;
_ablation = 1;
_tarpos = new Vector3();
// int cur_stage = ship.currentStage;
//Debug.Log("##########################");
//Debug.Log("Current Stage: "+cur_stage);
//Part loop - look at all the parts and modules for stuff.
foreach (Part P in ship.parts)
{
/*Debug.Log("-------------------------------");
* Debug.Log(P.name);
* Debug.Log("inStageIndex: " + P.inStageIndex);
* Debug.Log("inv Stage: " + P.inverseStage);
* Debug.Log("Manual Stage Offset: " + P.manualStageOffset);
* Debug.Log("Computed Stage: " + (P.inverseStage + P.manualStageOffset));
* Debug.Log("Original Stage: " + P.originalStage);
* //Debug.Log("Stage After: " + P.stageAfter);
* //Debug.Log("Stage Before: " + P.stageBefore);
* Debug.Log("Stage Offset: " + P.stageOffset); */
//Temperature
//First, look at internal temps
_best_temp = P.temperature / P.maxTemp;
if (_best_temp > _max_temp_percent)
{
_max_temp_percent = _best_temp;
_max_temp_actual = P.temperature;
}
//Now look at skin temps
_best_temp = P.skinTemperature / P.skinMaxTemp;
if (_best_temp > _max_temp_percent)
{
_max_temp_percent = _best_temp;
_max_temp_actual = P.skinTemperature;
}
//if (P.temperature/P.maxTemp > .5) Debug.Log(P.partInfo.title + " Temp: " + (int)P.temperature + "⁰/" + (int)P.maxTemp + "⁰");
//Vessel Mass
if (P.physicalSignificance == Part.PhysicalSignificance.FULL)
{
_mass += P.mass;
_mass += P.GetResourceMass();
}
//Resource loop
foreach (PartResource pr in P.Resources)
{
if (pr.resourceName.Equals("ElectricCharge"))
{
_electricCharge += pr.amount;
_electricMax += pr.maxAmount;
}
else if (pr.resourceName.Equals("LiquidFuel"))
{
_liquidFuel += pr.amount;
_liquidMax += pr.maxAmount;
}
else if (pr.resourceName.Equals("MonoPropellant"))
{
_monoFuel += pr.amount;
_monoMax += pr.maxAmount;
}
else if (pr.resourceName.Equals("Ablator"))
{
_best_ablation = pr.amount / pr.maxAmount;
if (_best_ablation < _ablation)
{
_ablation = _best_ablation;
}
}
}
//Module loop
foreach (PartModule pm in P.Modules)
{
if (pm is KerbalEVA)
{
KerbalEVA eva = pm as KerbalEVA;
_evafuel = eva.Fuel;
_evamaxfuel = eva.FuelCapacity;
}
else if (pm is ModuleWheelDeployment)
{
_gearstate = 0; //Gear up
ModuleWheelDeployment mlg = pm as ModuleWheelDeployment;
if (mlg.stateString.Equals("Deployed"))
{
_gearstate = 3;
}
if (mlg.stateString.StartsWith("Deploying"))
{
_gearstate = 2;
}
if (mlg.stateString.StartsWith("Retracting"))
{
_gearstate = 1;
}
}
else if (pm is ModuleEngines)
{
ModuleEngines ME = pm as ModuleEngines;
if (ME.engineShutdown || !ME.EngineIgnited) //We don't care about engines that aren't ready to fire
{
continue;
}
if (1 / ME.engineAccelerationSpeed > _engineaccel)
{
_engineaccel = 1 / ME.engineAccelerationSpeed;
}
if (1 / ME.engineDecelerationSpeed > _enginedecel)
{
_enginedecel = 1 / ME.engineDecelerationSpeed;
}
//Thrust/ISP
float thrust = ME.maxThrust * ME.thrustPercentage * 0.01f;
_isp += thrust / ME.atmosphereCurve.Evaluate((float)ship.staticPressurekPa);
_max_thrust += thrust;
_cur_thrust += ME.finalThrust; //I think this is the actual thrust being produced by each engine
//Intake Air
foreach (Propellant Pro in ME.propellants)
{
if (Pro.name.Equals("IntakeAir"))
{
_airreq += Pro.currentRequirement;
}
}
//Overheat stuff
//if (!ME.flameout)
//{
// double temp = P.temperature / P.maxTemp;
// if (temp > _max_temp) _max_temp = temp;
//}
}
else if (pm is ModuleEnginesFX) //The newer engines all use this instead of ModuleEngines
{
ModuleEnginesFX MFX = pm as ModuleEnginesFX;
if (MFX.engineShutdown || !MFX.EngineIgnited)
{
continue;
}
//Thrust/ISP
float thrust = MFX.maxThrust * MFX.thrustPercentage * 0.01f;
_isp += thrust / MFX.atmosphereCurve.Evaluate((float)ship.staticPressurekPa);
_max_thrust += thrust;
_cur_thrust += MFX.finalThrust;
//Overheat stuff
//if (!MFX.flameout)
//{
// double temp = P.temperature / P.maxTemp;
// if (temp > _max_temp) _max_temp = temp;
//}
if (1 / MFX.engineAccelerationSpeed > _engineaccel)
{
_engineaccel = 1 / MFX.engineAccelerationSpeed;
}
if (1 / MFX.engineDecelerationSpeed > _enginedecel)
{
_enginedecel = 1 / MFX.engineDecelerationSpeed;
}
foreach (Propellant Pro in MFX.propellants)
{
if (Pro.name.Equals("IntakeAir"))
{
_airreq += Pro.currentRequirement;
}
}
}
else if (pm is ModuleResourceIntake)
{
ModuleResourceIntake MRI = pm as ModuleResourceIntake;
if (MRI.intakeEnabled && MRI.resourceName.Equals("IntakeAir"))
{
_airin += MRI.airFlow * dt; //Using dt courtesy of FAR
}
}
}
}
_isp = _max_thrust / _isp; //Complete the average isp
if (_engineaccel == 0)
{
_engineaccel = 2; //Default in case the engines don't define it
}
//Debug.Log("Engine Acceleration: " + Math.Round(_engineaccel, 2));
//Electric charge rate
if (now - lastTime > 0.1)
{
_chargeRate = (_electricCharge - lastCharge) / (now - lastTime);
lastCharge = _electricCharge;
lastTime = now;
}
//Clamp to +30/-30
if (_chargeRate > 30)
{
_chargeRate = 30;
}
if (_chargeRate < -30)
{
_chargeRate = -30;
}
//Maneuver node burn calculations
//dv = Isp * ln (m0 / m1)
//e^(dv/ISP) = m0/m1
//m1 = m0/e^(dv/ISP)
//mass flow = thrust/isp
try
{
ManeuverNode myNode = FlightGlobals.ActiveVessel.patchedConicSolver.maneuverNodes.ToArray()[0];
double deltaVRem = myNode.GetBurnVector(ship.orbit).magnitude; //Remaining ΔV in the burn, per maneuver node
//Debug.Log("dV: " + Math.Round(deltaVRem, 1));
//Debug.Log("Mass: " + Math.Round(_mass, 1) + " ISP: " + Math.Round(_isp, 1));
_final_mass = _mass / Math.Pow(Math.E, (deltaVRem / (_isp * 9.82))); //Mass after burn Changed from 9.821
//Debug.Log("Final Mass: " + Math.Round(_final_mass, 1));
_mass_rate = _max_thrust / (_isp * 9.82); //Mass flow rate
//Debug.Log("Mass Rate: " + Math.Round(_mass_rate, 3));
//Debug.Log("Burn Mass: " + Math.Round(_mass - _final_mass, 1));
_burn_time = (_mass - _final_mass);// / _mass_rate; //Time it takes for this burn
//Debug.Log("Burn Mass: " + _burn_time);
_burn_time = _burn_time / _mass_rate;
//Debug.Log("Burn Time: " + _burn_time);
_burn_time += 2d;
//_burn_time += _engineaccel + _enginedecel; //Factor in slow throttles
}
catch
{
_burn_time = 0;
_final_mass = 0;
_mass_rate = 0;
}
//Heading, courtesy of MechJeb
/*Vector3d CoM, up, north, east, forward, rootPartPos;
* Quaternion rotationSurface, rotationVesselSurface;
* CoM = ship.findWorldCenterOfMass();
* up = (CoM - body.position).normalized;
* Rigidbody rigidBody = ship.rootPart.rigidbody;
* if (rigidBody != null) rootPartPos = rigidBody.position;
* north = Vector3d.Exclude(up, (body.position + body.transform.up * (float)body.Radius) - CoM).normalized;
* east = body.getRFrmVel(CoM).normalized;
* forward = ship.GetTransform().up;
* rotationSurface = Quaternion.LookRotation(north, up);
* rotationVesselSurface = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(ship.GetTransform().rotation) * rotationSurface);
* _heading = rotationVesselSurface.eulerAngles.y; */
_heading = FlightGlobals.ship_heading;
//Debug.Log("FlightGlobals Heading: " + FlightGlobals.ship_heading + " MechJeb Heading: " + _heading); //good
//Debug.Log("Ship temp: " + FlightGlobals.ship_temp); //not useful
//Debug.Log("Get dV: " + FlightGlobals.ActiveVessel.GetDeltaV()); //nothing
//Debug.Log("Surface Height: " + FlightGlobals.ActiveVessel.GetHeightFromSurface() + " Terrain Height: "+FlightGlobals.ActiveVessel.GetHeightFromTerrain()); //not useful
//Debug.Log("GetMass(): " + FlightGlobals.ActiveVessel.GetTotalMass()+" myMass: "+_mass); //good
//Debug.Log("IAS: " + FlightGlobals.ActiveVessel.indicatedAirSpeed + " M: " + FlightGlobals.ActiveVessel.mach); //good
//Waypoint distance code
//Uses the Spherical Law of Cosines from http://www.movable-type.co.uk/scripts/latlong.html
NavWaypoint nW = NavWaypoint.fetch; //The active nav waypoint
FinePrint.WaypointManager WM;
WM = FinePrint.WaypointManager.Instance();
if (nW != null && nW.IsActive)
{
//Convert these all to radians to do actual math on them.
double Aa = ship.latitude * Math.PI / 180;
double Ao = ship.longitude * Math.PI / 180;
double Ba = nW.Latitude * Math.PI / 180;
double Bo = nW.Longitude * Math.PI / 180;
_nav_dist = Math.Acos(Math.Sin(Aa) * Math.Sin(Ba) + Math.Cos(Aa) * Math.Cos(Ba) * Math.Cos(Bo - Ao)) * FlightGlobals.currentMainBody.Radius; //used to be 600000
double y = Math.Sin(Bo - Ao) * Math.Cos(Ba);
double x = Math.Cos(Aa) * Math.Sin(Ba) - Math.Sin(Aa) * Math.Cos(Ba) * Math.Cos(Bo - Ao);
double b = Math.Atan2(y, x) * 180 / Math.PI; //Converted to degrees.
_nav_heading = (b + 360f) % 360f; //Convert to 0-360 from -180 to 180
}
else if (_nav_waypoint != 0)
{
//defaults
_nav_heading = -1;
_nav_dist = -1;
//now try actually calculating things
int count = 0;
foreach (FinePrint.Waypoint W in WM.Waypoints)
{
//we clearly only care about waypoints on this planet
if (W.celestialName.Equals(body.name))
{
count++;
if (count == _nav_waypoint)
{
//Convert these all to radians to do actual math on them.
double Aa = ship.latitude * Math.PI / 180;
double Ao = ship.longitude * Math.PI / 180;
double Ba = W.latitude * Math.PI / 180;
double Bo = W.longitude * Math.PI / 180;
_nav_dist = Math.Acos(Math.Sin(Aa) * Math.Sin(Ba) + Math.Cos(Aa) * Math.Cos(Ba) * Math.Cos(Bo - Ao)) * FlightGlobals.currentMainBody.Radius;
double y = Math.Sin(Bo - Ao) * Math.Cos(Ba);
double x = Math.Cos(Aa) * Math.Sin(Ba) - Math.Sin(Aa) * Math.Cos(Ba) * Math.Cos(Bo - Ao);
double b = Math.Atan2(y, x) * 180 / Math.PI; //Converted to degrees.
_nav_heading = (b + 360f) % 360f; //Convert to 0-360 from -180 to 180
}
}
}
}
else
{
_nav_dist = -1; //Both of these at -1 implies no nav data
_nav_heading = -1f;
}
//Pitch, yaw, roll
/*NavBall ball = FlightUIController.fetch.GetComponentInChildren<NavBall>();
* Quaternion vesselRot = Quaternion.Inverse(ball.relativeGymbal);
* pitch = (vesselRot.eulerAngles.x > 180) ? (360 - vesselRot.eulerAngles.x) : -vesselRot.eulerAngles.x;
* roll = (vesselRot.eulerAngles.z > 180) ? (360 - vesselRot.eulerAngles.z) : -vesselRot.eulerAngles.z;
* yaw = vesselRot.eulerAngles.y; //Heading, more or less
* _rel_yaw = AngleAroundNormal(ship.GetObtVelocity(), ship.ReferenceTransform.up, ship.ReferenceTransform.forward);
* _rel_pitch = AngleAroundNormal(ship.GetObtVelocity(), ship.ReferenceTransform.up, ship.ReferenceTransform.right);
*
* //Polars
* if (pitch > 0f)
* {
* Quaternion polarRot = Quaternion.Euler(90, 0, 0) * vesselRot;
* polar_yaw = (polarRot.eulerAngles.y + 180f) % 360f - 180f;
* polar_pitch = (polarRot.eulerAngles.x + 180f) % 360f - 180f;
* polar_roll = polarRot.eulerAngles.z;
* }
* else
* {
* Quaternion polarRot = Quaternion.Euler(-90, 0, 0) * vesselRot;
* polar_yaw = (polarRot.eulerAngles.y + 180f) % 360f - 180f;
* polar_pitch = (polarRot.eulerAngles.x + 180f) % 360f - 180f;
* polar_roll = polarRot.eulerAngles.z;
* }*/
//Airspeed stuff
getAirspeedInfo(ship, out _mach, out _tas, out _eas);
//Max Altitude
if (ship.Landed)
{
max_altitude = ship.altitude; //Reset max altitude upon landing/takeoff
}
if (ship.altitude > max_altitude)
{
max_altitude = ship.altitude;
}
//RA
double terrain = ship.terrainAltitude;
if (terrain < 0)
{
terrain = 0;
}
_ra = (long)(body.GetAltitude(ship.CoM) - terrain);
//In orbit?
inOrbit = false;
//Minimum periapsis of 5km
if (ship.orbit.PeA > 5000)
{
//Make sure our orbit is out of the atmosphere, if there is one.
if (body.atmosphere)
{
if (ship.orbit.PeA > body.atmosphereDepth) //is this the same as max altitude?
{
inOrbit = true;
}
}
else
{
inOrbit = true;
}
}
//Closest approach and time, target distance and speed
if (FlightGlobals.fetch.VesselTarget != null)
{
Orbit TO = FlightGlobals.fetch.VesselTarget.GetOrbit();
Vector3d aPos = ship.ReferenceTransform.position; //Control source's position
Vector3d tPos = _tarpos = FlightGlobals.fetch.VesselTarget.GetTransform().position; //Rough distance
if (FlightGlobals.fetch.VesselTarget is ModuleDockingNode) //Use more precise distance
{
ModuleDockingNode targetDockingPort = FlightGlobals.fetch.VesselTarget as ModuleDockingNode;
tPos = _tarpos = targetDockingPort.controlTransform.position;
}
// MechJeb guidance targets _don't have an orbit_!
else if (TO != null)
{
// This is in the wrong coordinate system for _tarpos, and only usable for distance
aPos = ship.GetOrbit().pos;
tPos = TO.pos;
}
_target_dist = Vector3d.Distance(aPos, tPos);
}
else
{
_target_dist = 0;
}
var target = FlightGlobals.fetch.VesselTarget;
// MechJeb guidance targets _don't have an orbit!
// Also, landed targets often have invalid orbit that causes error spam and lag.
if (target != null && target.GetOrbit() != null)
{
Orbit O = ship.GetOrbit();
Orbit TO = target.GetOrbit();
double t = Planetarium.GetUniversalTime();
Func <double, Vector3d> targetPosAt = (d => TO.getPositionAtUT(t + d));
// For landed targets the orbit doesn't make sense, so calculate planet rotation
if (target.GetVessel() != null && target.GetVessel().LandedOrSplashed)
{
Vessel ves = target.GetVessel();
CelestialBody vbody = ves.mainBody;
Vector3d pos = vbody.GetRelSurfacePosition(ves.latitude, ves.longitude, ves.altitude);
targetPosAt = delegate(double d) {
double angle = vbody.rotates ? d * 360.0 / vbody.rotationPeriod : 0;
return(vbody.position + QuaternionD.AngleAxis(angle, Vector3d.down) * pos);
};
}
//I chunck my orbit into 100 pieces, and find between which two chuncks the minimum occurs...
double period = O.period;
double bestDist = double.MaxValue;
double bestTime = 0;
for (double d = 0; d < period; d += period / 100) //Look at 100 places around the orbit
{
if (d == 0)
{
continue; //skip the first time
}
double dist = Vector3d.Distance(O.getPositionAtUT(t + d), targetPosAt(d));
if (dist < bestDist)
{
bestDist = dist;
bestTime = d;
}
}
//Now, do it again, but over a small section of the orbit centered on the above
double start = bestTime - (period / 100);
double end = bestTime + (period / 100);
for (double d = start; d < end; d += period / 1000) //Look at 100 places within this chunck of orbit
{
if (d == start)
{
continue; //Skip the first time
}
double dist = Vector3d.Distance(O.getPositionAtUT(t + d), targetPosAt(d));
if (dist < bestDist)
{
bestDist = dist;
bestTime = d;
}
}
//And one last time, which is probably overkill
start = bestTime - (period / 1000);
end = bestTime + (period / 1000);
for (double d = start; d < end; d += period / 10000) //Look at 100 places within this chunck of orbit
{
if (d == start)
{
continue; //For ease of computation
}
double dist = Vector3d.Distance(O.getPositionAtUT(t + d), targetPosAt(d));
if (dist < bestDist)
{
bestDist = dist;
bestTime = d; //previous time is my start time
}
}
_closest_time = bestTime;
_closest_approach = bestDist;
}
else
{
_closest_approach = 0;
_closest_time = 0;
}
//Time to Impact calculations
double vertspeed = FlightGlobals.ActiveVessel.verticalSpeed;
if (!ship.Landed && vertspeed < 0 && ship.orbit.PeA <= 0 && !ship.mainBody.atmosphere)
{
double Vf = Math.Sqrt((vertspeed * vertspeed) + 2 * _ra * _gravity);
//t = 2d/(Vi+Vf)
_tti = (Math.Abs(Vf) - Math.Abs(vertspeed)) / _gravity;
_tti++; //So you hit the ground at 0, not 1 second after 0
}
else
{
_tti = 0;
}
//Suicide Altitude calculations
if (ship.Landed || ship.orbit.PeA > 0 || body.atmosphere)
{
_sa = -1; //Not calculating this
}
else
{
_sa = 0;
double avgG = body.gravParameter / ((body.Radius + ship.terrainAltitude) * (body.Radius + ship.terrainAltitude));
avgG += FlightGlobals.getGeeForceAtPosition(ship.CoM).magnitude;
avgG /= 2;
//Debug.Log("Average G: " + Math.Round(avgG, 2));
double vdv = Math.Sqrt((2 * avgG * _ra) + (ship.verticalSpeed * ship.verticalSpeed));
//Debug.Log("Vertical Delta V: " + Math.Round(vdv, 1));
//Altitude Fraction = (Vertical dv ^2) / (2 * 1000 * Thrust (kN))
double altFrac = (vdv * vdv) / (2 * 1000 * _max_thrust);
//Debug.Log("Altitude Fraction: " + Math.Round(altFrac, 2));
//m-avg = (m0 + (m0 / e ^ (dv / (Isp * 9.82)))) / 2
double avgMass = (_mass / Math.Pow(Math.E, (vdv / (_isp * 9.82))));
avgMass = (_mass + avgMass) / 2;
//Debug.Log("Average mass: " + Math.Round(avgMass, 1));
_sa = (long)Math.Round(altFrac * avgMass * 1000);
//Debug.Log("Suicide Altitude: " + Math.Round(_sa));
}
//Cleanup
isReadable = true;
//Debug.Log("Thread simulation complete at " + Math.Round(Time.time, 3));
}
private RawOrbitPlanData GenerateRawOrbitPlanData()
{
RawOrbitPlanData dataOut = new RawOrbitPlanData
{
CurrentOrbitPatches = new List <OrbitData>(),
ManPatchNum = -1,
PlannedOrbitPatches = new List <OrbitData>(),
TargetName = "???",
Mans = new List <ManData>(),
};
Orbit patch, lastPatch = null;
patch = AV.orbit;
while (patch != null && patch.activePatch)
{
dataOut.CurrentOrbitPatches.Add(OrbUtil.GetOrbitData(lastPatch = patch));
patch = patch.nextPatch;
}
if (AV.patchedConicSolver != null)
{
if (AV.patchedConicSolver.maneuverNodes != null)
{
if (AV.patchedConicSolver.maneuverNodes.Count > 0)
{
for (int i = 0; i < AV.patchedConicSolver.flightPlan.Count; i++)
{
if (AV.patchedConicSolver.flightPlan[i].patchStartTransition == Orbit.PatchTransitionType.MANEUVER)
{
dataOut.ManPatchNum = i;
break;
}
}
patch = AV.patchedConicSolver.maneuverNodes[0].nextPatch;
while (patch != null && patch.activePatch)
{
dataOut.PlannedOrbitPatches.Add(OrbUtil.GetOrbitData(lastPatch = patch));
patch = patch.nextPatch;
}
for (int i = 0; i < AV.patchedConicSolver.maneuverNodes.Count; i++)
{
ManeuverNode m = AV.patchedConicSolver.maneuverNodes[i];
dataOut.Mans.Add(new ManData
{
DV = (float)m.GetBurnVector(m.patch).magnitude,
UT = m.UT,
X = (float)m.DeltaV.x,
Y = (float)m.DeltaV.y,
Z = (float)m.DeltaV.z,
});
}
}
}
}
if (HasTarget())
{
dataOut.TargetName = AV.targetObject.GetName();
OrbitData o = OrbUtil.GetOrbitData(AV.targetObject.GetOrbit());
if (AV.targetObject is CelestialBody)
{
o.transEnd = (byte)PatchTransitionType.FINAL;
o.anomolyEnd = o.anomoly + Math.PI * 2;
}
dataOut.TargetOrbit = (o);
//lastPatch.GetDTforTrueAnomaly
dataOut.Rendezvous.ANAnom = (float)(FinePrint.Utilities.OrbitUtilities.AngleOfAscendingNode(lastPatch, AV.targetObject.GetOrbit()) * Deg2Rad);
dataOut.Rendezvous.TargetANAnom = (float)(FinePrint.Utilities.OrbitUtilities.AngleOfAscendingNode(AV.targetObject.GetOrbit(), lastPatch) * Deg2Rad);
dataOut.Rendezvous.T2AN = (int)OrbUtil.T2TAnom(lastPatch, dataOut.Rendezvous.ANAnom) % o.period;
dataOut.Rendezvous.T2DN = (int)OrbUtil.T2TAnom(lastPatch, dataOut.Rendezvous.ANAnom + Math.PI) % o.period;
dataOut.Rendezvous.RelInc = (float)FinePrint.Utilities.OrbitUtilities.GetRelativeInclination(lastPatch, AV.targetObject.GetOrbit());
double dist;
double time = OrbUtil.CalcClosestAproach(lastPatch, AV.targetObject.GetOrbit(), lastPatch.StartUT, out dist);
dataOut.Rendezvous.T2CA = (int)(time - Planetarium.GetUniversalTime());
dataOut.Rendezvous.SepAtCA = (int)dist;
dataOut.Rendezvous.CAAnom = (float)lastPatch.TrueAnomalyAtUT(time);
dataOut.Rendezvous.TargetCAAnom = (float)AV.targetObject.GetOrbit().TrueAnomalyAtUT(time);
}
return(dataOut);
}
