//TODO: Finish these
private static List<ThrustSet> GetZeroTorques(ThrustContribution[] used, double fuelToThrust, Point3D centerMass)
{
// Split the list into inline thrusters, and thrusters that produce torque. So there could be 5 total, but if only 2
// produce torque, only those 2 are used in the torque calculations
List<ThrustContribution> noTorque = new List<ThrustContribution>();
List<ThrustContribution> hasTorque = new List<ThrustContribution>();
for (int cntr = 0; cntr < used.Length; cntr++)
{
if (IsNearZeroTorque(used[cntr].Torque))
{
noTorque.Add(used[cntr]);
}
else
{
hasTorque.Add(used[cntr]);
}
}
List<ThrustSet> retVal = new List<ThrustSet>();
if (hasTorque.Count == 0)
{
// All zero torque
retVal.AddRange(GetZeroTorquesSprtZeroTorque(noTorque, fuelToThrust));
}
else if (hasTorque.Count == 2)
{
// Two
retVal.AddRange(GetZeroTorquesSprtTwoTorque(noTorque, hasTorque, fuelToThrust));
}
else if (hasTorque.Count > 2)
{
// Many
//retVal.AddRange(GetZeroTorquesSprtManyTorque1(noTorque, hasTorque, fuelToThrust));
retVal.AddRange(GetZeroTorquesSprtManyTorque5(noTorque, hasTorque, fuelToThrust, centerMass));
}
// Throw out any that have zero translation
retVal = retVal.Where(o => !IsNearZeroTranslation(o.TranslationLength)).ToList();
// Exit Function
return retVal;
}
private static List<ThrustSet> GetZeroTranslations(ThrustContribution[] used, double fuelToThrust)
{
return new List<ThrustSet>();
}
private static Tuple<int, int>[] GetIllegalCombos(ThrustContribution[] thrusters)
{
List<Tuple<int, int>> retVal = new List<Tuple<int, int>>();
for (int outer = 0; outer < thrusters.Length - 1; outer++)
{
for (int inner = outer + 1; inner < thrusters.Length; inner++)
{
if (thrusters[outer].Thruster == thrusters[inner].Thruster)
{
Vector3D dir1 = thrusters[outer].Thruster.ThrusterDirectionsModel[thrusters[outer].Index];
Vector3D dir2 = thrusters[inner].Thruster.ThrusterDirectionsModel[thrusters[inner].Index];
if (Math1D.IsNearValue(Vector3D.DotProduct(dir1, dir2), -1d))
{
retVal.Add(new Tuple<int, int>(outer, inner));
}
}
}
}
return retVal.ToArray();
}
/// <summary>
/// This taks a set of thrusters and tries to find combinations that will produce zero torque and combinations that will produce zero translation
/// </summary>
/// <returns>
/// Item1=Torques
/// Item2=Translations
/// </returns>
private static Tuple<ThrustSet[], ThrustSet[]> GetZeros(ThrustContribution[] all, int[] combo, double fuelToThrust, Point3D centerMass)
{
// Get an array of the referenced thrusters
ThrustContribution[] used = new ThrustContribution[combo.Length];
for (int cntr = 0; cntr < combo.Length; cntr++)
{
used[cntr] = all[combo[cntr]];
}
//This is now done up front (more efficient)
// Make sure this combo doesn't have the same thruster firing is opposite directions
//if (!IsValidCombo(used))
//{
// return null;
//}
// Try to find combinations of these thrusters that will produce zero torque and zero translation
List<ThrustSet> torques = GetZeroTorques(used, fuelToThrust, centerMass);
List<ThrustSet> translations = GetZeroTranslations(used, fuelToThrust);
// Exit Function
if (torques.Count == 0 && translations.Count == 0)
{
return null;
}
else
{
return new Tuple<ThrustSet[], ThrustSet[]>(torques.ToArray(), translations.ToArray());
}
}
private static IEnumerable<ThrusterSetting> EnsureThrustKeysBuilt_Rotate(Vector3D axis, ThrustContribution[] contributions, double maxAcceleration, MassMatrix inertia)
{
axis = axis.ToUnit(); // doing this so the dot product can be used as a percent
List<Tuple<ThrustContribution, double>> retVal = new List<Tuple<ThrustContribution, double>>();
// Get a list of thrusters that will contribute to the direction
foreach (ThrustContribution contribution in contributions)
{
double dot = Vector3D.DotProduct(contribution.TorqueUnit, axis);
if (dot > .5d)
{
//retVal.Add(new ThrusterSetting(contribution.Thruster, contribution.Index, 1)); // for now, just do 100%
retVal.Add(Tuple.Create(contribution, contribution.TorqueLength * dot));
}
}
retVal = FilterThrusts(retVal);
#region Reduce Percent
double percent = 1;
if (retVal.Count > 0)
{
double torque = retVal.Sum(o => o.Item2);
// A=F/M
//double accel = torque / (Vector3D.DotProduct(inertia.Inertia, axis) * inertia.Mass);
double accel = torque / Math.Abs(Vector3D.DotProduct(inertia.Inertia, axis));
if (accel > maxAcceleration)
{
percent = maxAcceleration / accel;
}
}
#endregion
return retVal.Select(o => new ThrusterSetting(o.Item1.Thruster, o.Item1.Index, percent)).ToArray(); // commiting to array so that this linq isn't rerun each time it's iterated over
}
/// <summary>
/// This overload will cut back the returned percents if the thrusters exceed the acceleration passed in
/// </summary>
private static IEnumerable<ThrusterSetting> EnsureThrustKeysBuilt_Linear(Vector3D direction, ThrustContribution[] contributions, double maxAcceleration, double mass)
{
direction = direction.ToUnit(); // doing this so the dot product can be used as a percent
List<Tuple<ThrustContribution, double>> retVal = new List<Tuple<ThrustContribution, double>>();
// Get a list of thrusters that will contribute to the direction
foreach (ThrustContribution contribution in contributions)
{
double dot = Vector3D.DotProduct(contribution.TranslationForceUnit, direction);
if (dot > .05d)
{
retVal.Add(Tuple.Create(contribution, contribution.TranslationForceLength * dot));
}
}
retVal = FilterThrusts(retVal);
#region Reduce Percent
double percent = 1;
if (retVal.Count > 0)
{
double force = retVal.Sum(o => o.Item2);
//F=MA, A=F/M
double accel = force / mass;
if (accel > maxAcceleration)
{
percent = maxAcceleration / accel;
}
}
#endregion
return retVal.Select(o => new ThrusterSetting(o.Item1.Thruster, o.Item1.Index, percent)).ToArray(); // commiting to array so that this linq isn't rerun each time it's iterated over
}
private static IEnumerable<ThrusterSetting> EnsureThrustKeysBuilt_Rotate(Vector3D torque, ThrustContribution[] contributions)
{
torque = torque.ToUnit(); // doing this so the dot product can be used as a percent
List<Tuple<ThrustContribution, double>> retVal = new List<Tuple<ThrustContribution, double>>();
// Get a list of thrusters that will contribute to the direction
foreach (ThrustContribution contribution in contributions)
{
double dot = Vector3D.DotProduct(contribution.TorqueUnit, torque);
if (dot > .5d)
{
retVal.Add(Tuple.Create(contribution, contribution.TorqueLength * dot));
}
//if (dot > .05d)
//{
// retVal.Add(new ThrusterSetting(thruster, cntr, dot)); // for now, use the dot as the percent
//}
}
retVal = FilterThrusts(retVal, .05);
return retVal.Select(o => new ThrusterSetting(o.Item1.Thruster, o.Item1.Index, 1)).ToArray(); // commiting to array so that this linq isn't rerun each time it's iterated over
}