//Call this every frame to make sure the target transform stays up to date
public void Update(VesselWrapper VSL)
{
if (target != null)
{
UpdateCoordinates(VSL.Body);
}
if (TargetInfo.targetType != ProtoTargetInfo.Type.Null &&
HighLogic.LoadedSceneIsFlight)
{
target = TargetInfo.FindTarget();
if (target == null)
{
TargetInfo.targetType = ProtoTargetInfo.Type.Null;
Name += " last location";
}
else
{
UpdateCoordinates(VSL.Body);
}
}
else
{
if (go == null)
{
go = new GameObject();
}
go.transform.position = VSL.Body.GetWorldSurfacePosition(Pos.Lat, Pos.Lon, VSL.Body.TerrainAltitude(Pos.Lat, Pos.Lon));
}
AbsRadius = Radius * VSL.Geometry.R;
}
public virtual void InitTorque(VesselWrapper VSL, float ratio_factor)
{
wThrustLever = wThrustPos - VSL.Physics.wCoM;
thrustDirection = VSL.refT.InverseTransformDirection(wThrustDir);
specificTorque = VSL.refT.InverseTransformDirection(Vector3.Cross(wThrustLever, wThrustDir));
torqueRatio = Mathf.Pow(Mathf.Clamp01(1 - Mathf.Abs(Vector3.Dot(wThrustLever.normalized, wThrustDir))), ratio_factor);
}
public static bool AvoidStatic(VesselWrapper vsl, Vector3d dir, float dist, Vector3d dV, out Vector3d maneuver)
{
maneuver = Vector3d.zero;
var dVn = dV.normalized;
var cosA = Mathf.Clamp(Vector3.Dot(dir, dVn), -1, 1);
if (cosA <= 0)
{
return(false);
}
var sinA = Mathf.Sqrt(1 - cosA * cosA);
var vdist = dist * cosA;
var min_separation = dist * sinA;
if (min_separation > vsl.Geometry.D ||
min_separation > vsl.Geometry.R && vdist < min_separation)
{
return(false);
}
maneuver = (dVn * cosA - dir).normalized;
var vTime = dist * cosA / dV.magnitude;
if (vTime > SafeTime(vsl, dVn))
{
return(false);
}
maneuver *= (vsl.Geometry.D - min_separation) / Math.Sqrt(vTime);
return(true);
}
/// <summary>
/// Initializes a new instance of the <see cref="ThrottleControlledAvionics.AtmoSim"/> class.
/// </summary>
/// <param name="body">Planetary body.</param>
/// <param name="vsl">VesselWrapper.</param>
public AtmoSim(CelestialBody body, VesselWrapper vsl)
{
Body = body;
VSL = vsl;
//0.0005 converts dynamic pressure to kPa and divides area by 2: Drag = dP * Cd * S/2.
Cd = 0.0005 * Globals.Instance.ORB.DragK * PhysicsGlobals.DragCubeMultiplier * PhysicsGlobals.DragMultiplier;
}
public bool BeforeDestination(VesselWrapper VSL, Vector3d vel)
{
return(Valid &&
(VSL.Info.Destination.IsZero() ||
Vector3.Dot(RelPosition(VSL.Physics.wCoM + VSL.Info.Destination), VSL.Info.Destination) < 0 ||
Vector3.Dot(vel, VSL.Info.Destination) < 0));
}
protected override bool Action(VesselWrapper VSL)
{
VSL.CFG.BlockThrottle = true;
VSL.CFG.VF.XOffIfOn(VFlight.AltitudeControl);
VSL.CFG.VerticalCutoff = Value;
return(false);
}
public LandingTrajectory(VesselWrapper vsl, Vector3d dV, double startUT,
WayPoint target, double target_altitude = 0, bool with_brake = true)
: base(vsl, dV, startUT, target)
{
TargetAltitude = target_altitude;
update(with_brake);
}
protected override bool Action(VesselWrapper VSL)
{
VSL.CFG.BlockThrottle = true;
VSL.CFG.VF.XOnIfNot(VFlight.AltitudeControl);
VSL.CFG.DesiredAltitude = Value;
return(false);
}
public RendezvousTrajectory(VesselWrapper vsl, Vector3d dV, double startUT, WayPoint target, double transfer_time = -1)
: base(vsl, dV, startUT, target)
{
TransferTime = transfer_time;
TargetOrbit = Target.GetOrbit();
update();
}
protected override bool Evaluate(VesselWrapper VSL)
{
var ret = false;
switch (Operator)
{
case CompareOperator.GT:
ret = VesselValue(VSL) > Value;
break;
case CompareOperator.EQ:
ret = Mathf.Abs(VesselValue(VSL) - Value) < Error;
break;
case CompareOperator.LS:
ret = VesselValue(VSL) < Value;
break;
}
if (ret)
{
if (WaitTimer.TimePassed)
{
WaitTimer.Reset(); return(true);
}
}
else
{
WaitTimer.Reset();
}
return(false);
}
public static Sweep Cast(VesselWrapper vsl, Vector3 dir, float angle, float dist)
{
var s = new Sweep(vsl);
s.Cast(dir, angle, dist);
return(s);
}
public static float BrakingNodeCorrection(float V0, VesselWrapper VSL)
{
float ttb;
var offset = BrakingOffset(V0, VSL, out ttb);
return(offset - ttb / 2);
}
protected override bool Action(VesselWrapper VSL)
{
var nv = Vector3d.zero;
switch (mode)
{
case Mode.Forward:
nv = VSL.OnPlanetParams.Heading;
break;
case Mode.Backward:
nv = -VSL.OnPlanetParams.Heading;
break;
case Mode.Right:
nv = Vector3.ProjectOnPlane(VSL.refT.right, VSL.Physics.Up).normalized;
break;
case Mode.Left:
nv = -Vector3.ProjectOnPlane(VSL.refT.right, VSL.Physics.Up).normalized;
break;
case Mode.Bearing:
nv = VSL.Physics.Direction(Bearing);
break;
case Mode.Off:
VSL.CFG.HF.XOff();
return(false);
}
VSL.CFG.HF.XOn(HFlight.CruiseControl);
VSL.HorizontalSpeed.SetNeeded(nv * Value);
return(false);
}
public EnginesStats(EnginesDB engines, VesselWrapper vsl)
: base(vsl)
{
engines.SortByRole();
TorqueInfo = new TorqueInfo(VSL);
for (int i = 0, count = engines.Count; i < count; i++)
{
var e = engines[i];
e.InitState();
e.InitTorque(VSL, EngineOptimizer.C.TorqueRatioFactor);
e.UpdateCurrentTorque(1);
}
engines.OptimizeForZeroTorque(VSL.Physics.MoI);
for (int i = 0, count = engines.Count; i < count; i++)
{
var e = engines[i];
var throttle = e.Role == TCARole.MANUAL ? e.limit : e.thrustLimit;
if (throttle > 0)
{
if (e.Role != TCARole.MANEUVER)
{
var thrust = e.nominalCurrentThrust(throttle);
MaxThrust += e.wThrustDir * thrust;
MaxDefThrust += e.defThrustDir * thrust;
MaxMassFlow += e.MaxFuelFlow * throttle;
}
if (e.isSteering)
{
TorqueLimits.Add(e.specificTorque * e.nominalCurrentThrust(throttle));
}
}
}
TorqueInfo.Update(TorqueLimits.Max + VSL.Torque.NoEngines.Torque);
}
void init()
{
if (!TCA_Active)
{
return;
}
updateCFG();
VSL = new VesselWrapper(this);
EnableTCA(VSL.Engines.All.Count > 0 ||
VSL.Engines.RCS.Count > 0 ||
VSL.Torque.Wheels.Count > 0);
if (!TCA_Active)
{
VSL = null; return;
}
VSL.Init();
TCAModulesDatabase.InitModules(this);
VSL.ConnectAutopilotOutput();//should follow module initialization
vessel.OnPreAutopilotUpdate += OnPreAutopilotUpdate;
vessel.OnPostAutopilotUpdate += OnPostAutopilotUpdate;
TCAGui.Reinitialize(this);
StartCoroutine(updateUnpackDistance());
Actions["onActionUpdate"].active = true;
Actions["ToggleTCA"].actionGroup = CFG.ActionGroup;
CFG.Resume(this);
}
public void OnActivated(VesselWrapper VSL)
{
if (Level && VSL.OnPlanet)
{
VSL.CFG.HF.OnIfNot(HFlight.Level);
}
Activated = false;
}
public static void AddNodeRaw(VesselWrapper VSL, Vector3d NodeV, double UT)
{
var node = VSL.vessel.patchedConicSolver.AddManeuverNode(UT);
node.DeltaV = NodeV;
VSL.vessel.patchedConicSolver.UpdateFlightPlan();
// VSL.Log("AddNodeRaw: {} : {}", UT, node.DeltaV);//debug
}
public static void AddNode(VesselWrapper VSL, Vector3d dV, double UT)
{
var node = VSL.vessel.patchedConicSolver.AddManeuverNode(UT);
node.DeltaV = Orbital2NodeDeltaV(node.patch, dV, UT);
VSL.vessel.patchedConicSolver.UpdateFlightPlan();
// VSL.Log("AddNode: {} : {}", UT, node.DeltaV);//debug
}
protected override bool Action(VesselWrapper VSL)
{
if (!VSL.HasTarget)
{
Message("No Target"); return(false);
}
VSL.CFG.Nav.XOn(Navigation.FollowTarget);
return(false);
}
protected override bool Action(VesselWrapper VSL)
{
if (!VSL.HasTarget)
{
Message("No Target"); return(false);
}
VSL.CFG.Nav.XOnIfNot(Navigation.GoToTarget);
return(VSL.CFG.Nav[Navigation.GoToTarget]);
}
protected override bool Action(VesselWrapper VSL)
{
if (!VSL.HasTarget)
{
Message("No Target"); return(false);
}
VSL.CFG.AP1.XOnIfNot(Autopilot1.MatchVelNear);
return(VSL.CFG.AP1[Autopilot1.MatchVelNear]);
}
public void Copy(Sweep s)
{
VSL = s.VSL;
L = s.L; C = s.C; R = s.R;
Obstacle = s.Obstacle;
Altitude = s.Altitude;
Maneuver = s.Maneuver;
Valid = s.Valid;
}
protected override bool Action(VesselWrapper VSL)
{
if (!VSL.HasTarget)
{
Message("No Target"); return(false);
}
VSL.CFG.AP2.XOnIfNot(Autopilot2.Rendezvous);
return(VSL.CFG.AP2[Autopilot2.Rendezvous]);
}
protected override bool Action(VesselWrapper VSL)
{
if (!VSL.HasManeuverNode)
{
Message("No Maneuver Node"); return(false);
}
VSL.CFG.AP1.XOnIfNot(Autopilot1.Maneuver);
return(VSL.CFG.AP1[Autopilot1.Maneuver]);
}
public bool ConditionsMet(VesselWrapper VSL)
{
var ret = Conditions.Count == 0;
for (int i = 0, count = Conditions.Count; i < count; i++)
{
ret |= Conditions[i].True(VSL);
}
return(ret);
}
protected override bool Action(VesselWrapper VSL)
{
var THR = VSL.TCA.GetModule <ThrottleControl>();
if (THR != null)
{
THR.Throttle = Value / 100;
}
return(false);
}
protected override bool Action(VesselWrapper VSL)
{
if (VSL.vessel != null)
{
foreach (KSPActionGroup g in Enum.GetValues(typeof(KSPActionGroup)))
{
VSL.vessel.ActionGroups.SetGroup(g, group_is_set(g));
}
}
return(false);
}
public static void AddNode(VesselWrapper VSL, Vector3d dV, double UT)
{
var node = VSL.vessel.patchedConicSolver.AddManeuverNode(UT);
var norm = node.patch.GetOrbitNormal().normalized;
var prograde = node.patch.getOrbitalVelocityAtUT(UT).normalized;
var radial = Vector3d.Cross(prograde, norm).normalized;
node.DeltaV = new Vector3d(Vector3d.Dot(dV, radial),
Vector3d.Dot(dV, norm),
Vector3d.Dot(dV, prograde));
VSL.vessel.patchedConicSolver.UpdateFlightPlan();
}
public void OnActivated(VesselWrapper VSL)
{
if (Level && VSL.OnPlanet)
{
VSL.CFG.HF.OnIfNot(HFlight.Level);
}
if (SmartEngines != 0)
{
VSL.CFG.UseSmartEngines = SmartEngines > 0;
}
Activated = false;
}
protected override bool Action(VesselWrapper VSL)
{
if (attitude.Equals(Attitude.None))
{
VSL.CFG.AT.XOff();
}
else
{
VSL.CFG.AT.XOnIfNot(attitude);
}
return(false);
}
