public SolverTask(RCSSolverKey key, Vector3 direction, Vector3 rotation)
{
this.key = key;
this.direction = direction;
this.rotation = rotation;
this.timeSubmitted = DateTime.Now;
}
// Throttles RCS thrusters to keep a vessel balanced during translation.
protected void AdjustRCSThrottles(FlightCtrlState s)
{
bool cutThrottles = false;
if (s.X == 0 && s.Y == 0 && s.Z == 0)
{
solverThread.ResetThrusterForces();
}
// Note that FlightCtrlState doesn't use the same axes as the
// vehicle's reference frame. FlightCtrlState coordinates are right-
// handed, with vessel prograde being -Z. Vessel coordinates
// are left-handed, with vessel prograde being +Y. Here's how
// FlightCtrlState relates to various ship directions (and their
// default keyboard shortcuts):
// up (i): y -1
// down (k): y +1
// left (j): x +1
// right (l): x -1
// forward (h): z -1
// backward (n): z +1
// To turn this vector into a vessel-relative one, we need to negate
// each value and also swap the Y and Z values.
Vector3 direction = new Vector3(-s.X, -s.Z, -s.Y);
// RCS balancing on rotation isn't supported.
//Vector3 rotation = new Vector3(s.pitch, s.roll, s.yaw);
RCSSolverKey.SetPrecision(calcPrecision);
GetThrottles(direction, out throttles, out thrusters);
// If the throttles we got were bad (due to the threaded
// calculation not having completed yet), cut throttles. It's
// better to not move at all than move in the wrong direction.
if (throttles.Length != thrusters.Count)
{
throttles = new double[thrusters.Count];
cutThrottles = true;
}
if (cutThrottles)
{
for (int i = 0; i < throttles.Length; i++)
{
throttles[i] = 0;
}
}
// Apply the calculated throttles to all RCS parts.
for (int i = 0; i < thrusters.Count; i++)
{
thrusters[i].partModule.thrusterPower = (float)throttles[i];
}
}
// The list of throttles is ordered under the assumption that you iterate
// over the vessel as follows:
// foreach part in vessel.parts:
// foreach rcsModule in part.Modules.OfType<ModuleRCS>:
// ...
// Note that rotation balancing is not supported at the moment.
public void GetThrottles(Vessel vessel, VesselState state, Vector3 direction,
out double[] throttles, out List <RCSSolver.Thruster> thrustersOut)
{
thrustersOut = callerThrusters;
Vector3 rotation = Vector3.zero;
var rcsBalancer = VesselExtensions.GetMasterMechJeb(vessel).rcsbal;
// Update vessel info if needed.
CheckVessel(vessel, state);
Vector3 dir = direction.normalized;
RCSSolverKey key = new RCSSolverKey(ref dir, rotation);
if (thrusters.Count == 0)
{
throttles = double0;
}
else if (direction == Vector3.zero)
{
throttles = originalThrottles;
}
else if (results.TryGetValue(key, out throttles))
{
cacheHits++;
}
else
{
// This task hasn't been calculated. We'll handle that here.
// Meanwhile, TryGetValue() will have set 'throttles' to null, but
// we'll make it a 0-element array instead to avoid null checks.
cacheMisses++;
throttles = double0;
if (pending.Contains(key))
{
// We've submitted this key before, so we need to check the
// results queue.
while (resultsQueue.Count > 0)
{
SolverResult sr = (SolverResult)resultsQueue.Dequeue();
results[sr.key] = sr.throttles;
pending.Remove(sr.key);
if (sr.key == key)
{
throttles = sr.throttles;
}
}
}
else
{
// This task was neither calculated nor pending, so we've never
// submitted it. Do so!
pending.Add(key);
tasks.Enqueue(new SolverTask(key, dir, rotation));
workEvent.Set();
}
}
// Return a copy of the array to make sure ours isn't modified.
throttles = (double[])throttles.Clone();
}
public SolverResult(RCSSolverKey key, double[] throttles)
{
this.key = key;
this.throttles = throttles;
}
public SolverTask(RCSSolverKey key, Vector3 direction, Vector3 rotation)
{
this.key = key;
this.direction = direction;
this.rotation = rotation;
this.timeSubmitted = DateTime.Now;
}
public SolverResult(RCSSolverKey key, double[] throttles)
{
this.key = key;
this.throttles = throttles;
}
// The list of throttles is ordered under the assumption that you iterate
// over the vessel as follows:
// foreach part in vessel.parts:
// foreach rcsModule in part.Modules.OfType<ModuleRCS>:
// ...
// Note that rotation balancing is not supported at the moment.
public void GetThrottles(Vessel vessel, VesselState state, Vector3 direction,
out double[] throttles, out List<RCSSolver.Thruster> thrustersOut)
{
thrustersOut = callerThrusters;
Vector3 rotation = Vector3.zero;
var rcsBalancer = VesselExtensions.GetMasterMechJeb(vessel).rcsbal;
// Update vessel info if needed.
CheckVessel(vessel, state);
Vector3 dir = direction.normalized;
RCSSolverKey key = new RCSSolverKey(ref dir, rotation);
if (thrusters.Count == 0)
{
throttles = double0;
}
else if (direction == Vector3.zero)
{
throttles = originalThrottles;
}
else if (results.TryGetValue(key, out throttles))
{
cacheHits++;
}
else
{
// This task hasn't been calculated. We'll handle that here.
// Meanwhile, TryGetValue() will have set 'throttles' to null, but
// we'll make it a 0-element array instead to avoid null checks.
cacheMisses++;
throttles = double0;
if (pending.Contains(key))
{
// We've submitted this key before, so we need to check the
// results queue.
while (resultsQueue.Count > 0)
{
SolverResult sr = (SolverResult)resultsQueue.Dequeue();
results[sr.key] = sr.throttles;
pending.Remove(sr.key);
if (sr.key == key)
{
throttles = sr.throttles;
}
}
}
else
{
// This task was neither calculated nor pending, so we've never
// submitted it. Do so!
pending.Add(key);
tasks.Enqueue(new SolverTask(key, dir, rotation));
workEvent.Set();
}
}
// Return a copy of the array to make sure ours isn't modified.
throttles = (double[])throttles.Clone();
}